請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/27622
完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 陽毅平(Yee-Pien Yang) | |
dc.contributor.author | Zhou-Han Lee | en |
dc.contributor.author | 李周翰 | zh_TW |
dc.date.accessioned | 2021-06-12T18:12:31Z | - |
dc.date.available | 2010-10-09 | |
dc.date.copyright | 2007-10-09 | |
dc.date.issued | 2007 | |
dc.date.submitted | 2007-10-03 | |
dc.identifier.citation | [1] R. X. Chen, L. G. Chen, and L. Chen, 'System design consideration for digital wheelchair controller,' Industrial Electronics, IEEE Transactions on, vol. 47, pp. 898-907, 2000.
[2] J. Jelonkiewicz and S. Linnman, 'High efficient wheelchair drive with PM syn-chronous motor,' in Power Electronics and Applications, 1993., Fifth European Conference on, 1993, pp. 145-149 vol.6. [3] R. Nilssen, S. E. Skaar, R. Lund, T. Skjellnes, S. Ovrebo, and E. Lovli, 'Design of a permanent magnet synchronous motor integrated in the wheel rim on wheel-chairs,' in Power Electronics and Applications, 2005 European Conference on, 2005, p. 8 pp. [4] A. H. Wijenayake, J. M. Bailey, and P. J. McCleer, 'Design optimization of an axial gap permanent magnet brushless DC motor for electric vehicle applica-tions,' 1995, pp. 685-692 vol.1. [5] D. H. Cho, H. K. Jung, and D. J. Sim, 'Multiobjective optimal design of interior permanent magnet synchronous motors considering improved core loss formula,' Energy Conversion, IEEE Transaction on, vol. 14, pp. 1347-1352, 1999. [6] M. K. Kim, C. G. Lee, and H. K. Jung, 'Multiobjective optimal design of three-phase induction motor using improved evolution strategy,' Magnetics, IEEE Transactions on, vol. 34, pp. 2980-2983, 1998. [7] Y. D. Chun, S. Wakao, T. H. Kim, K. B. Jang, and J. Lee, 'Multiobjective design optimization of brushless permanent magnet motor using 3D equivalent magnetic circuit network method,' Applied Superconductivity, IEEE Transactions on, vol. 14, pp. 1910-1913, 2004. [8] Y. P. Yang, Y. P. Luh, and C. H. Cheung, 'Design and control of axial-flux brushless DC wheel motors for electric Vehicles-part I: multiobjective optimal design and analysis,' Magnetics, IEEE Transactions on, vol. 40, pp. 1873-1882, 2004. [9] Y. P. Yang, J. P. Wang, S. W. Wu, and Y. P. Luh, 'Design and control of axial-flux brushless DC wheel motors for electric Vehicles-part II: optimal current wave-forms and performance test,' Magnetics, IEEE Transactions on, vol. 40, pp. 1883-1891, 2004. [10] Z. Q. Zhu and D. Howe, 'Analytical prediction of the cogging torque in ra-dial-field permanent magnet brushless motors,' Magnetics, IEEE Transactions on, vol. 28, pp. 1371-1374, 1992. [11] M. Aydin, Q. Ronghai, and T. A. Lipo, 'Cogging torque minimization technique for multiple-rotor, axial-flux, surface-mounted-PM motors: alternating magnet pole-arcs in facing rotors,' 2003, pp. 555-561 vol.1. [12] D. H. Kim, I. H. Park, J. H. Lee, and C. E. Kim, 'Optimal shape design of iron core to reduce cogging torque of IPM motor,' Magnetics, IEEE Transactions on, vol. 39, pp. 1456-1459, 2003. [13] Z. Q. Zhu, S. Ruangsinchaiwanich, and D. Howe, 'Synthesis of cogging torque in permanent magnet machines by superposition,' 2004, pp. 828-833 Vol.2. [14] R. Lateb, N. Takorabet, and F. Meibody-Tabar, 'Effect of magnet segmentation on the cogging torque in surface-mounted permanent-magnet motors,' Magnetics, IEEE Transactions on, vol. 42, pp. 442-445, 2006. [15] Y. Yubo, W. Xiuhe, Z. Rong, D. Tingting, and T. Renyuan, 'The optimization of pole arc coefficient to reduce cogging torque in surface-mounted permanent magnet motors,' Magnetics, IEEE Transactions on, vol. 42, pp. 1135-1138, 2006. [16] M. S. Islam, S. Mir, T. Sebastian, and S. Underwood, 'Design considerations of sinusoidally excited permanent-magnet Machines for low-torque-ripple applica-tions,' Industry Applications, IEEE Transactions on, vol. 41, pp. 955-962, 2005. [17] J.-U. Chu, I.-H. Moon, G.-W. Choi, J.-C. Ryu, and M.-S. Mun, 'Design of BLDC motor controller for electric power wheelchair,' 2004, pp. 92-7e. [18] R. A. Cooper, T. A. Corfman, S. G. Fitzgerald, M. L. Boninger, D. M. Spaeth, W. Ammer, and J. Arva, 'Performance assessment of a pushrim-activated power-assisted wheelchair control system,' Control Systems Technology, IEEE Transactions on, vol. 10, pp. 121-126, 2002. [19] J. P. Hong, H. M. Shim, S. B. Jung, E. H. Lee, and S. H. Hong, 'A steering algo-rithm of the MCU based controller for two-wheel drive vehicles,' 2001, pp. 1887-1890 vol.3. [20] H. M. Shim, J. P. Hong, S. B. Chung, and S. H. Hong, 'A powered wheelchair controller based on master-slave control architecture,' 2001, pp. 1553-1556 vol.3. [21] H. Seki, T. Sugimoto, and S. Tadakuma, 'Novel straight road driving control of power assisted wheelchair based on disturbance estimation and minimum jerk control,' 2005, pp. 1711-1717 Vol. 3. [22] H. Seki and S. Tadakuma, 'Velocity pattern generation for power assisted wheelchair based on jerk and acceleration limitation,' 2005, p. 6 pp. [23] S. Oh and Y. Hori, 'Development of a novel instantaneous speed observer and its application to the power-assisted wheelchair control,' 2004, pp. 1471-1476 Vol.3. [24] S. Oh, N. Hata, and Y. Hori, 'Control developments for wheelchairs in slope en-vironments,' 2005, pp. 739-744 vol. 2. [25] 高橋義信, '輪椅之設計及格制定研討會,' 亞太科學技術協會, 九十年五月. [26] 黃偉禎, '新式電動輪椅馬達之最佳化設計與實現,' 國立台灣大學機械工程研究所碩士論文, 2005. [27] 賴俊文, '創新手輪馬達之設計與最佳化分析,' 國立台灣大學機械工程研究所碩士論文, 2006. [28] V. Ostovic, Computer-aided Analysis of Electric Machines. New York: Prentice Hall, 1994. [29] D.C.Hanselman, Brushless Permanent Magnet Motor Design, 2 ed. New York: McGraw-Hill, 2003. [30] D. Ishak, Z. Q. Zhu, and D. Howe, 'Comparison of PM brushless motors, having either all teeth or alternate teeth wound,' Energy Conversion, IEEE Transaction on, vol. 21, pp. 95-103, 2006. [31] 許景淵, '電子差速式電動輪椅動力模組,' 國立台灣大學機械工程研究所碩士論文, 1997. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/27622 | - |
dc.description.abstract | 本文研究目的為改善前兩代的手輪馬達,以提高力矩及降低力矩漣波和齒卡力矩為前提,設計出一個適合應用於電動輪椅的馬達。本文設計的馬達不需搭配減速機構即可輸出足夠的扭力來驅動電動輪椅,因此改善了傳統電動輪椅的效率,使續航力提升20~30%,重量方面也減輕不少。 馬達設計是先利用最佳化分析軟體找出最佳的尺寸,因此可以用最少的材料達到最好的性能輸出,再使用有限元素分析軟體來驗證並做細部的調整來降低齒卡力矩與力矩漣波。最後將製作好的馬達與輪椅結合,以數位控制器(FPGA)來控制兩顆直流無刷馬達,適時地調整兩輪速度而達到簡易差速的功能,並以搖桿作為人機介面來操控電動輪椅。 | zh_TW |
dc.description.abstract | General electric wheelchairs are driven by a high speed motor with reduction gears and differential gears. The design poses several disadvantages because the wheel-chairs are inevitably heavy, big, and less efficient. In this study, a direct-drive brush-less DC rim motor is designed to produce enough torque without other mechanical de-vices. In this way, the electric wheelchair’s functions are enhanced with light weight. The dimensions of the motor are determined by optimal analysis, so the motor is designed with the least cost. The optimal sizes are simulated and verified by finite element analysis. Furthermore, the geometry is modified to reduce the cogging torque and torque ripple. The experiment results show that the performance of the whole wheelchair system is developed, meeting the standards set by this study. | en |
dc.description.provenance | Made available in DSpace on 2021-06-12T18:12:31Z (GMT). No. of bitstreams: 1 ntu-96-R94522825-1.pdf: 2071833 bytes, checksum: 173d4176a59da85128db68a27ca84f39 (MD5) Previous issue date: 2007 | en |
dc.description.tableofcontents | 致謝 i
中文摘要 ii Abstract iii List of figures vii List of tables x Nomenclature xi 1. Introduction 1 1.1 Motivation and Objective 1 1.2 Literature review 2 1.3 Summary of this work 6 2. Motor structure and design equations 8 2.1 Specification of rim motors 8 2.2 3-Phase radial flux brushless DC motor 10 2.3 Basic geometry of the motor 11 2.4 Minimum magnetic circuit 14 2.5 Toque and speed calculation 15 2.5.1 Magnetomotive force distribution 15 2.5.2 Air gap distribution 17 2.5.3 Coenergy and torque calculation 18 2.5.4 Modification of MMF distribution 20 2.5.5 Maximum speed 24 2.6 Ohmic loss, phase inductance, and drive voltage 26 2.6.1 Ohmic loss 26 2.6.2 Phase inductance 27 3. Rim Motor Design 32 3.1 Comparison of different slot/pole combinations 32 3.2 Optimal design 34 3.2.1 Introduction of optimal software 34 3.2.2 Objective function 36 3.2.3 Selection of optimal design parameters 38 3.2.4 Optimal analysis 40 3.3 Finite element analysis 42 3.3.1 Introduction of finite element software 42 3.3.2 Finite element analysis 45 3.3.3 New arrangement of the rotor 48 3.3.4 Final adjustment 51 4. Drive and Control Systems 54 4.1 Whole system 54 4.2 Drive system 56 4.2.1 Full bridge circuit 56 4.2.2 Protective circuits 59 4.2.3 Isolated circuit 62 4.3 Digital control system 63 4.3.1 Analog to digital conversion 64 4.3.2 Digital filter 65 4.3.3 Joystick command and feedback signals 68 4.3.4 Principle of controlling current waveform 70 4.3.5 PWM generation 71 4.3.6 Speed estimation 73 5. Performance Experiment 75 5.1 Experimental equipment 75 5.2 Back EMF waveform measurement 78 5.3 Experiment of speed 79 5.3.1 Level surface 79 5.3.2 10.2% slope surface 82 5.3.3 16.5% sloped surface 84 5.4 Experiment of distance range 86 5.5 Discussion 89 6. Conclusion and Future Work 91 6.1 Conclusion 91 6.2 Future work 92 7. Bibliography 94 | |
dc.language.iso | en | |
dc.title | 手輪馬達驅動之電動輪椅的設計與製作 | zh_TW |
dc.title | Design and Manufacturing of Rim Motors on Electric Wheelchair | en |
dc.type | Thesis | |
dc.date.schoolyear | 96-1 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 黃緒哲,蕭耀榮 | |
dc.subject.keyword | 手輪馬達,電動輪椅,弧形磁鐵,力矩漣波, | zh_TW |
dc.subject.keyword | rim motor,electric wheelchair,arc magnet,torque ripple, | en |
dc.relation.page | 96 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2007-10-03 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
顯示於系所單位: | 機械工程學系 |
文件中的檔案:
檔案 | 大小 | 格式 | |
---|---|---|---|
ntu-96-1.pdf 目前未授權公開取用 | 2.02 MB | Adobe PDF |
系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。