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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 | YAN-SHENG FANG | en |
dc.contributor.author | 方彥升 | zh_TW |
dc.date.accessioned | 2021-06-17T08:19:40Z | - |
dc.date.available | 2026-01-26 | |
dc.date.copyright | 2021-02-22 | |
dc.date.issued | 2020 | |
dc.date.submitted | 2021-01-27 | |
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Toru. “Slope Information Collection System Using Sensor Information from General-Purpose Wheelchair,” 2019 IEEE International Conference on Consumer Electronics (ICCE), Las Vegas, 2019, doi: 10.1109/ICCE.2019.8662021 Y. Hirata, K. Kawamata, K. Sasaki, A. Kaisumi, K. Kosuge and E. Monacelli, “Regenerative brake control of cycling wheelchair with passive behavior,” 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, 2013, pp. 3873-3879, doi: 10.1109/ICRA.2013.6631122. T. Agarwal, S. Bhalgat, C. Khandhar and B. Khetan, “Swheel: Low-Cost Smart Wheelchair with Wireless Control,” 2019 International Conference on Communication and Electronics Systems (ICCES), Coimbatore, India, 2019, pp. 1021-1025, doi: 10.1109/ICCES45898.2019.9002569. S. Oh and Y. Hori, “Disturbance Attenuation Control for Power-Assist Wheelchair Operation on Slopes,” in IEEE Transactions on Control Systems Technology, vol. 22, no. 3, pp. 828-837, May 2014, doi: 10.1109/TCST.2013.2265396. S. Katsura and K. Ohnishi, “Advanced Motion Control for Wheelchair in Unknown Environment,” 2006 IEEE International Conference on Systems, Man and Cybernetics, Taipei, 2006, pp. 4926-4931, doi: 10.1109/ICSMC.2006.385086. H. Seki, T. Sugimoto and S. Tadakuma, “Novel straight road driving control of power assisted wheelchair based on disturbance estimation and minimum jerk control,” Fourtieth IAS Annual Meeting. Conference Record of the 2005 Industry Applications Conference, 2005., Kowloon, Hong Kong, 2005, pp. 1711-1717 Vol. 3, doi: 10.1109/IAS.2005.1518677. Y. Oonishi, S. Oh and Y. Hori, “A New Control Method for Power-Assisted Wheelchair Based on the Surface Myoelectric Signal,” in IEEE Transactions on Industrial Electronics, vol. 57, no. 9, pp. 3191-3196, Sept. 2010, doi: 10.1109/TIE.2010.2051931. K. Yukiko, M. 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Hori, “Design and Analysis of Force-Sensor-Less Power-Assist Control,” in IEEE Transactions on Industrial Electronics, vol. 61, no. 2, pp. 985-993, Feb. 2014, doi: 10.1109/TIE.2013.2270214. 葉治緯, 雙動力輪智慧電動輪椅之系統整合與控制, 碩士論文, 國立台灣大學, 台北, 2018. 吳泓儒, 應用類比霍爾感測器及電流重建改善電動輪椅安全與舒適度之研究, 碩士論文, 國立台灣大學, 台北, 2019. 劉邦元, 手輪馬達電動輪椅之無力感測器動力輔助控制, 碩士論文, 國立台灣大學, 台北, 2019. 莊詠諭, 手輪馬達電動輪椅馬達驅動控制器研發與驗證, 碩士論文, 國立台灣大學, 台北, 2018. 林怡劭, 手輪馬達電動輪椅力矩控制暨參數識別, 碩士論文, 國立台灣大學, 台北, 2017. 吳建維, 手輪馬達電動輪椅之剎車與上坡起步控制策略, 碩士論文, 國立台灣大學, 台北, 2014. 江維倫, 創新動力輪內環型馬達與安全剎車之整合設計, 碩士論文, 國立台灣大學, 台北, 2014. MPU-6000 and MPU-6050 Product Specification Revision 3.4, [Online]. Available: https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf 建築物無障礙設施設計規範。檢自:https://www.cpami.gov.tw/最新消息/法規公告/10518-建築物無障礙設施設計規範.html (Jun. 19, 2020) TMS320x2806x Piccolo Technical Reference Guide (Rev. G), [Online]. Available: https://www.ti.com/lit/ug/spruh18g/spruh18g.pdf 方彥升(2021, January 12). Wheelchair dance display [Video file]. Retrieved from https://www.youtube.com/watch?v=Wx1TgawI-I8 | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/74093 | - |
dc.description.abstract | 本研究的目標是開發並改善一款會跳輪椅舞的電動輪椅,幫助身心障礙者健身,也可以享受跳輪椅舞的樂趣。本研究使用的電動輪椅是由手輪馬達驅動,可以做靈活的原地迴轉,也可以於手動與電動之間切換操作。但此輪椅若是要執行輪椅舞,其控制的準確度與流暢度仍需改善,主要是因為雙輪所受的干擾轉矩差距導致輪椅雙輪響應不同,使輪椅脫離命令軌道,危害使用者的安全。為了改善此現象,本研究透過量測、觀測並補償雙輪所受的轉矩干擾,設計一多重干擾補償機制,提升雙輪對速度命令的響應速度,並縮小雙輪之間的響應差距,以減少輪椅偏離命令軌道的狀況。本研究分別使用了三種補償機制,分別為車體摩擦轉矩補償、重力補償以及滾動摩擦補償。其中,為了獲得在各轉速下雙輪所受到的車體摩擦轉矩,本研究進一步建立一套車體摩擦轉矩實驗,並將其從速度命令的給予、變更,到數據的收集、分析、紀錄等等的程序完全自動化。本研究也根據加入了干擾補償機制後的車體動態模型之模擬重新設計了速度閉迴路控制器的參數,並且確保雙輪之控制參數一致。在實驗完成後,本研究將會實際以輪椅執行輪椅舞,並針對本實驗的成效、感想等等實際訪問輪椅舞舞者,並將受訪者的回饋一齊呈現給讀者。 | zh_TW |
dc.description.abstract | This thesis aims to design an automatic wheelchair dance performed by a powered wheelchair driven by rim motors, and to improve its fluidity and safety. The novel electric wheelchair used in this research is driven by rim motors and is therefore capable of carrying out more flexible movements with better responses. However, one of the challenges the wheelchair faces is the difference of disturbance torque between the left and right wheel that will cause the wheelchair to diverge from its desired path, endangering the safety of its user. In this research, we will design a multi-disturbance compensation method to compensate for this difference, and to improve the response and safety of the wheelchair. The multi-disturbance compensation method is the combination of three compensation mechanics: wheel friction compensation, gravity compensation and rolling resistance difference compensation. To obtain the friction torque of the wheel, this research designs a wheel friction curve sampling procedure that can be executed automatically to gather the data to form the wheel friction curve. This research also utilizes the dynamic model simulation of the wheelchair to re-design the control parameters of the speed PI controller while also ensuring the control parameters of both motors are consistent. After performing a wheelchair dance to a wheelchair dancer, some useful comments, thoughts and criticisms are collected for future improvements. | en |
dc.description.provenance | Made available in DSpace on 2021-06-17T08:19:40Z (GMT). No. of bitstreams: 1 U0001-2601202113355300.pdf: 6701331 bytes, checksum: 2758fd0ba014627b4c4b2d8704d7e8ec (MD5) Previous issue date: 2020 | en |
dc.description.tableofcontents | 口試委員會審定書 I 中文摘要 II ABSTRACT III 目錄 IV 圖目錄 VII 表目錄 XI 符號表 XII 第一章 緒論 1 1.1研究背景與動機 1 1.2文獻回顧 2 1.2.1車體摩擦轉矩估測與補償 2 1.2.2重力補償 3 1.2.3干擾觀測器補償 4 1.2.4本文貢獻 5 1.3章節摘要 6 第二章 手輪電動馬達輪椅之整車系統架構 8 2.1整車硬體架構簡介 8 2.2控制模組介紹 10 2.2.1 上控制器模組 10 2.2.2 下控制器模組 17 2.3直流無刷手輪馬達之數學模型 20 2.3.1 直流無刷手輪馬達電氣動態方程式 20 2.3.2 直流無刷手輪馬達機械動態方程式 23 2.3.3 直流無刷手輪馬達簡化模型 26 2.4整車動態方程式[24] 28 第三章 手輪馬達驅動理論 33 3.1磁場導向控制概述 34 3.2空間向量脈寬調變(SVPWM) 38 3.3電流採樣電路 43 3.4線性霍爾感測器 43 3.4.1 霍爾感測器運作原理 44 3.4.2 線性霍爾感測器介紹 46 第四章 控制系統架構與實現 50 4.1 CCS編輯器介紹 50 4.1.1 CCS環境介紹 50 4.1.2 寄存器功能介紹 52 4.2 SVPWM有感測器控制架構 58 4.2.1 程式碼功能介紹 58 4.2.2 電流死區與電流重建[20] 61 4.3 系統干擾補償 63 4.3.1 車體摩擦轉矩補償 64 4.3.2重力補償 71 4.3.3滾動摩擦補償 79 4.3.4補償機制整合 81 4.4路徑過衝防止機制 82 第五章 實驗結果 84 5.1 實驗設備介紹 84 5.2 車體摩擦轉矩曲線實驗 87 5.2 輪椅各補償機制之速度響應比較 91 5.2.1 車體摩擦轉矩補償 91 5.2.2 重力補償 94 5.2.3 滾動摩擦補償 97 5.3輪椅舞展示與訪談 100 5.3.1輪椅基本舞步展示 100 5.3.2輪椅舞舞步設計與展示 105 5.3.3訪談對象介紹 105 5.3.4訪談過程 105 第六章 結論與未來展望 107 6.1 結論 107 6.2 未來展望 107 參考文獻 109 | |
dc.language.iso | zh-TW | |
dc.title | 應用於提升手輪馬達電動輪椅舞流暢度與安全性之多重干擾補償 | zh_TW |
dc.title | Using Multi-Disturbance Compensation to Improve the Fluidity and Safety of Wheelchair Dance of a Powered Wheelchair Driven by Rim Motors | en |
dc.type | Thesis | |
dc.date.schoolyear | 109-1 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 顏家鈺(Jia-Yush Yen),楊勝明(SHENG-MING YANG) | |
dc.subject.keyword | 摩擦力補償,重力補償,力感測器,滾動摩擦補償,干擾觀測器, | zh_TW |
dc.subject.keyword | friction compensation,gravity compensation,force sensor,rolling resistance compensation,disturbance observer, | en |
dc.relation.page | 112 | |
dc.identifier.doi | 10.6342/NTU202100177 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2021-01-28 | |
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 |
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