Realization of a Motion Control IC for Electric-Powered Wheelchair
| Autor: | Chih-Yuan Yang, 楊智淵 |
|---|---|
| Rok vydání: | 2010 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 98 This thesis is mainly based on the technology of SoPC (System on a Programmable Chip) which can embedded a Nios II soft core in an FPGA (Field Programmable Gate Array), to implement a motion control IC for electric wheelchair. This electric wheelchair herein is run by two DC rim motors and a fuzzy controller is applied in speed loop of motor drive to cope with the uncertainly and external load problems. The motion control IC has two modules. One is Nios II processor IP (Intelligent properties) which is used to perform the function of motion trajectory and the data communication with control panel and generation of differential speed command; and the other is an application IP which is utilized to execute the function of PWM (Pulse width modulation) generation, QEP (Quadrature encoder pulse) signal detection, fuzzy controller scheme and speed loop controller, trapezoidal speed command generator. Therefore, a fully digital motion controller for electric wheelchair can be realized within one FPGA chip. Finally, an experimental system, which is composed of the DE2 (Cyclone II EP2C35F672C6) with FPGA basis, two inverters, one control panel, and one platform for electric wheelchair, is set up to prove the efficiency and correctness of the proposed motion control IC. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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