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標題: | 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 Using Multi-Disturbance Compensation to Improve the Fluidity and Safety of Wheelchair Dance of a Powered Wheelchair Driven by Rim Motors |
作者: | YAN-SHENG FANG 方彥升 |
指導教授: | 陽毅平(Yee-Pien Yang) |
關鍵字: | 摩擦力補償,重力補償,力感測器,滾動摩擦補償,干擾觀測器, friction compensation,gravity compensation,force sensor,rolling resistance compensation,disturbance observer, |
出版年 : | 2020 |
學位: | 碩士 |
摘要: | 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。 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. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/74093 |
DOI: | 10.6342/NTU202100177 |
全文授權: | 有償授權 |
顯示於系所單位: | 機械工程學系 |
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