Design and Verification of a Motor Driver for a Powered Wheelchair Driven by Rim Motors
| Autor: | Yung-Yu Chuang, 莊詠諭 |
|---|---|
| Rok vydání: | 2018 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 106 The main objective of this study is to develop the controller and driver of the electric wheelchair driven by rim motors. First, this study introduces the driven principle of brushless DC motor and the structure of electric wheelchair, the characteristics of the structure are power wheel moudles composed of driver, controller and motor, when power wheel moudles are installed on the frame of the ordinary wheelchair, and it is turned into electric wheelchair. In this study, designing power wheel controller and BLDC motor driver for the purpose of reducing the volume of development driver board and development control card, on the other hand, the method of driver board and control card separation-designed which can meet the need for the driver to continue to use when replacing the other control card. The functions of driver designed including the function of power supply and protection, adjustment of hallsensor signal, and current sensing. And the function of power protection contains power soft starting and back EMF charging to battery, the former one avoids the damage of electronic components when the moment of power on, and it exists as fuse that is able to break off power supply in case of driver board damaged when generating wrong signals ; the latter one avoids that back EMF is returned to battery causes battery damage when hand-pushing is implemented at power off state. The design of under controller is focus on hardware, and TMS320F28069 microcontroller developed by Texas Instruments being used. Controllers on the powered wheelchair are the self-made power wheel controller and main controller “Arduino Due”. The main controller is in charge of differential speed control, optimal cross-coupling control, human interface signal, and transferring speed command to the power wheel controller. The power wheel controller is in charge of receiving speed command and control signals for six-step square-waves control and Space Vector Pulse Width Modulation control. In this study, using field-oriented control and torque control to enhance motor efficiency and improve acceleration when starting up, and compare with six-step square-waves control finally. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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