請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/61701
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 | Po-Ray Chen | en |
dc.contributor.author | 陳柏叡 | zh_TW |
dc.date.accessioned | 2021-06-16T13:10:05Z | - |
dc.date.available | 2016-07-31 | |
dc.date.copyright | 2013-07-31 | |
dc.date.issued | 2013 | |
dc.date.submitted | 2013-07-31 | |
dc.identifier.citation | [1] T. Masuzawa, Y. Nakajima, and H. Ikeda, 'Development of all directional powered wheelchair,' IEEE Vehicle Power and Propulsion Conference (VPPC), Harbin, China, Sept. 3-5, 2008.
[2] K. Sakai, T. Yasuda, and K. Tanaka, 'Improvements of manipulation torque transfer mechanism and assist unit for one hand drive wheelchair with a triple ring,' Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics, Guilin, China, Dec. 19-23, 2009, pp.196-201. [3] K. Sakai, T. Yasuda, and K. Tanaka, 'Power assist effects of a new type assist unit in a one hand drive wheelchair with a triple ring,' The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, Oct. 18-22, 2010, pp.6040-6045. [4] H. Park, M. Kiani, H.-M. Lee, J. Kim, and J. Block, 'A wireless magnetoresistive sensing system for an intraoral tongue-computer interface,' IEEE Transactions on Biomedical Circuits and Systems, Vol. 6, Iss. 6, pp. 571-585, Dec. 2012. [5] J. Kim, X. Huo, and J. Minocha, 'Evaluation of a smartphone platform as a wireless interface between tongue drive system and electric-powered wheelchairs,' IEEE Transactions on Biomedical Engineering, Vol. 59, Iss. 6, pp. 1787 – 1796, April. 2012. [6] H. Seki, K. Ishihara, and S. Tadakuma, 'Novel regenerative braking control of electric power-assisted wheelchair for safety downhill road driving,' IEEE Transactions on Industrial Electronics, Vol. 56, Iss. 5, pp. 1393-1400, May 2009. [7] T. Shibata, and T. Murakami, 'Power-assist control of pushing task by repulsive compliance control in electric wheelchair,' IEEE Transactions on Industrial Electronics, Vol. 59, Iss. 1, pp. 511 – 520, Jan. 2012. [8] Y.-P. Yang, H.-C. Lin, and C.-T. Lu, ' Design and integration of power wheels with rim motors for a powered wheelchair,' Proceedings of 2011 International Conference on Superconductivity and Electromagnetic Devices (ASEMD), Sydney, Australia, Dec. 14-16, 2011. [9] Y.-P. Yang, H.-C. Lin, F.-C. Tsai, C.-T. Lu, and K.-H. Tu, 'Design and integration of dual power wheels with rim motors for a powered wheelchair,' IET, Electric Power Applications, Vol. 6, Iss. 7, pp. 419-428, Dec. 2012. [10] H. Seki, and N. Tanohata, 'Fuzzy control for electric power-assisted wheelchair driving on disturbance roads,' IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews, Vol. 42, Iss. 6, pp. 1624-1632, Nov. 2012. [11] S. Tashiro and T. Murakami, 'Step passage control of a power-assisted wheelchair for a caregiver,' IEEE Transactions on Industrial Electronics, Vol. 55, Iss. 4, pp. 1715-1721, April. 2008. [12] T. Carlson, and Y. Demiris, 'Collaborative control for a robotic wheelchair: evaluation of performance, attention, and workload,' IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, Vol. 42, Iss. 3, pp. 876-888, June. 2012. [13] D.-A. Sanders, M. Langner, and G.-E. Tewkesbury, 'Improving wheelchair-driving using a sensor system to control wheelchair-veer and variable-switches as an alternative to digital-switches or joysticks,' Industrial Robot: An International Journal, Vol. 37, Iss: 2, pp.157-167, Dec. 2010. [14] H. Seki, T. Sugimoto, and S. Tadakuma, 'Straight and circular road driving control of power assisted wheelchair based on balanced assisted torque,' Proceedings of The 31st Annual Conference of the IEEE Industrial Electronics Society (IECON 2005), Nov. 6-10, 2005. [15] S. Oh and Y. Hori, 'Development of an Extended Operational Kalman of Power Assist Wheelchair,' IEEE International Conference on Industrial Technology (ICIT), Mumbai, India, Dec. 15-17, 2006. [16] S. Oh and Y. Hori, 'Development of extended wheelchair operation observer to estimate precise two-dimensional tilt information,' ASME International Design Engineering Technical Conferences & and Computers and Information in Engineering Conferences, Las Vegas, USA, Sept. 4-7, 2007. [17] S. Oh, N. Hata, and Y. Hori, 'Integrated motion control of a wheelchair in the longitudinal, lateral, and pitch directions,' IEEE Transactions on Industrial Electronics, Vol. 55, Iss. 4, pp. 1855 - 1862, April. 2008. [18] H. Seki and S. Tadakuma, 'Straight and circular road driving control for power assisted wheelchair based on fuzzy algorithm,' Proceedings of The 32nd Annual Conference of the IEEE Industrial Electronics Society (IECON'06), Paris, France, Nov. 6-10, 2006. [19] M.-C. Tsai, K.-S. Wu and P.-W. Hsueh, 'Synchronized motion control for power-wheelchairs,' 2009 Fourth International Conference on Innovative Computing, Information and Control, Kaohsiung, Taiwan, Dec. 7-9, 2009 [20] P.-W. Hsueh, M.-C. Tsai, H.-T. Pan and A. Grandjean, 'Integrated synchronized motion control for a force sensorless power-assisted wheelchair,' Preprints of the 18th IFAC World Congress, Milano, Italy, Aug. 28-Sept. 02, 2011. [21] H. Murakami, H. Seki, H. Minakata, and S. Tadakuma, 'Operationality improvement control of electric power assisted wheelchair by fuzzy algorithm,' IEEE International Conference on Industrial Technology (ICIT), Gippsland, VIC, Feb. 10-13, 2009. [22] S.-H. Chen, and J.-J. Chou, 'Motion control of the electric wheelchair powered by rim motors based on event-based cross-coupling control strategy,' The IEEE/SICE International Symposium on System Integration (SII), Kyoto, Japan, Dec. 20-22, 2011. [23] A. Stirban, I. Boldea, and G.-D. Andreescu, 'Motion-sensorless control of BLDC-PM motor with offline FEM-information-assisted position and speed Observer,' IEEE Transactions on Industry Applications, Vol. 48, Iss. 6, pp. 1950-1958, Nov.-Dec. 2012. [24] C.-T. Pan, and E. Fang, 'A phase-locked-loop-assisted internal model adjustable-speed controller for BLDC motors,' IEEE Transactions on Industrial Electronics, Vol. 55, Iss. 9, pp. 3415-3425, Sept. 2008. [25] C. Xia, Z. Li, and T. Shi, 'A control strategy for four-switch three-phase brushless DC motor using single current sensor,' IEEE Transactions on Industrial Electronics, Vol. 56, Iss. 6, pp. 2058-2066, June 2009. [26] D.-M. Lee, and W.-C. Lee, 'Analysis of relationship between abnormal current and position detection error in sensorless controller for interior permanent-magnet brushless DC motors,' IEEE Transactions on Magnetics, Vol. 44, Iss. 8, pp. 2074-2081, Aug. 2008. [27] L.-I. Iepure, I. Boldea, 'Hybrid I-f starting and observer-based sensorless control of single-phase BLDC-PM motor drives,' IEEE Transactions on Industrial Electronics, Vol. 59, Iss. 9, pp. 3436-3444, Sept. 2012. [28] A.V. Sant, and K.R. Rajagopal, 'PM synchronous motor speed control using hybrid fuzzy-PI With novel switching functions,' IEEE Transactions on Magnetics, Vol. 45, Iss. 10, pp. 4672-4675, Oct. 2009. [29] J. Fang, H. Li, and B. Han, 'Torque ripple reduction in BLDC torque motor with nonideal back EMF,' IEEE Transactions on Power Electronics, Vol. 27, Iss. 11, pp. 4630-4637, Nov. 2012. [30] H.M. Cheshmehbeigi and E. Afjei, 'Design optimization of a homopolar salient-pole brushless DC machine: analysis, simulation, and experimental tests,' IEEE Transactions on Energy Conversion, Vol. 28, Iss. 2, pp. 289 - 297, June. 2013. [31] S.-B. Ozturk, B. Akin, H.-A. Toliyat, and F. Ashrafzadeh, 'Low-cost direct torque control of permanent magnet synchronous motor using hall-effect sensors,' Applied Power Electronics Conference and Exposition (APEC '06), Twenty-First Annual IEEE, TX, USA, March. 19-23, 2006. [32] S. Xuanfeng and L. Xingyan, 'BLDC motor speed servo system based on novel p-fuzzy self-adaptive PID control,' International Conference on Information, Networking and Automation (ICINA), Kunming, China, Oct. 18-19, 2010. [33] Y. Inoue, S. Morimoto, and M. Sanada, 'Control method suitable for direct torque control based motor drive system satisfying voltage and current limitations,' The 2010 International Power Electronics Conference, Sapporo, Japan, May-June 2010. [34] Z. Haishui, W. Dahu, Z. Tong, and H. Keming, 'Design on a DC motor speed control,' 2010 International Conference on Intelligent Computation Technology and Automation, Changsha, China, May. 11-12, 2010. [35] T.-P. Banerjee, J. Roychoudhury, S. Das, and A. Abraham, 'Hybrid intelligent predictive control system for high speed BLDC motor in aerospace application,' Third International Conference on Emerging Trends in Engineering and Technology, Goa, India, Nov. 19-21, 2010. [36] J. Xiao, B. Li, and D. Zhou, J. Chai, and L. Zhang, 'Speed control system based on improved fuzzy-PID hybrid control for direct current motor,' 2010 International Conference on Digital Manufacturing & Automation, ChangSha, China, Dec. 18-20, 2010. [37] S. Zaim, J.P. Martin, and B. Nahid-Mobarakeh, F. Meibody-Tabar, 'High performance low cost control of a permanent magnet wheel motor using a hall effect position sensor,' Vehicle Power and Propulsion Conference (VPPC), 2011 IEEE, Chicago, USA, Sept. 6-9, 2011. [38] M. Chao, K. Hsieh, C.-Y. Wang, and H. Chang, 'Implementation of intelligent motor speed control using rotary encoder,' 2011 First International Conference on Robot, Vision and Signal Processing, Kaohsiung, Taiwan, Nov. 21-23, 2011. [39] G. Rajeshkanna, 'Modern speed control of separately excited DC motor by boost converter fed field control method,' 2013 International Conference on Computer Communication and Informatics (ICCCI), Coimbatore, INDIA, Jan. 4-6, 2013. [40] M. Fazil, and K.R. Rajagopal, 'Nonlinear dynamic modeling of a single-phase permanent-magnet brushless DC motor using 2-D static finite-element results,' IEEE Transactions on Magnetics, Vol. 47, Iss, 4, pp. 781-786, April. 2011. [41] K. Tabarraee, J. Iyer, H. Atighechi, and J. Jatskevich, 'Dynamic average-value modeling of 120° VSI-commutated brushless DC motors with trapezoidal back EMF,' IEEE Transactions on Energy Conversion, Vol. 27, Iss. 2, pp. 296–307, June. 2012. [42] Q. Han, N. Samoylenk, and J. Jatskevich, 'Average-value modeling of brushless DC motors with 120° voltage source inverter,' IEEE Transactions on Energy Conversion, Vol. 23, Iss. 2, pp. 423-432, June. 2008. [43] P. Kumar and P. Bauer, 'Improved analytical model of a permanent-magnet brushless DC motor,' IEEE Transactions on Magnetics, Vol. 44, Iss. 10, pp. 2299-2309, Oct. 2008. [44] S.J. Sung, G.H. Jang, and H.J. Lee, 'Torque ripple and unbalanced magnetic force of a BLDC motor due to the connecting wire between slot windings,' IEEE Transactions on Magnetics, Vol. 48, Iss. 11, pp. 3319-3322, Nov. 2012. [45] F. Aghili, 'Fault-tolerant torque control of BLDC motors,' IEEE Transactions on Power Electronics, Vol. 26, Iss. 2, pp. 355-363, Feb. 2011. [46] N. Samoylenko, Q. Han, and J. Jatskevich, 'Dynamic performance of brushless DC motors with unbalanced Hall sensors,' IEEE Transactions on Energy Conversion, Vol. 26, Iss. 2, pp. 752-763, Sept. 2008. [47] X. Jiang, J. Xing, Y. Li, and Y. Lu, ' Theoretical and simulation analysis of influences of stator tooth width on cogging torque of BLDC motors,' IEEE Transactions on Magnetics, Vol. 45, Iss. 10, pp. 4601-4604, Oct. 2009. [48] W. Hong, W. Lee, and B.-K. Lee, 'Dynamic simulation of brushless DC drive considering phase commutation and backemf waveform for electromechanical actuator,' IEEE Electric Machines & Drives Conference, Hyderabad, India, Nov. 19-21, 2007, pp. 641-773. [49] Q. Han, N. Samoylenko, and J. Jatskevich, 'Numerical average-value modeling of the brushless DC motor 120-degree inverter system,' Canadian Conference on Electrical and Computer Engineering, Vancouver, Canada, April. 22-26, 2007. [50] A. Kapun , M. Curkovic, A. Hace, and K. Jezernik, 'Identifying dynamic model parameters of a BLDC motor,' Simulation Modelling Practice and Theory Vol. 16, Iss. 9, pp 1254–1265, Oct. 2008. [51] D.-S. Sun, X. Cheng, and X.-Q. Xia, 'Research of novel modeling and simulation approach of brushless DC motor control system,' International Conference on E-Product, E-Service and E-Entertainment (ICEEE), Henan, China, Nov. 7-9, 2010. [52] Z. Meng, R. Chen, C. Sun, and Y. An, 'The mathematical simulation model of brushless DC motor system,' International Conference on Computer Application and System Modeling (ICCASM 2010), Taiyuan, China, Oct. 22-24, 2010. [53] D.V. Munoz, 'Design, simulation and implementation of a PMSM drive system,' Thesis for the Degree of Master of Science in Engineering, Goteborg, Sweden, Oct. 24, 2011. [54] U. Ansari, S. Alam, and S. Minhaj, and N. Jafri,'Modeling and control of three phase BLDC motor using PID with genetic algorithm,' 2011 UKSim 13th International Conference on Modelling and Simulation, Cambridge, Britain, March. 30-April. 1, 2011. [55] C.-M. Lin, M.-H. Lin, and C.-W. Chen, 'SoPC-based adaptive PID control system design for magnetic levitation system,' IEEE Transactions on Systems Journals, Vol. 5, Iss. 2, pp. 278 - 287, June 2011. [56] Z.-L. Gaing, 'A Particle swarm optimization approach for optimum design of PID controller in AVR system,' IEEE Transactions on Energy Conversion, Vol. 19, Iss. 2, pp. 384 - 391, June 2004. [57] M. Nasri, H. Nezamabadi-pour, and M. Maghfoori,' A PSO-based optimum design of PID controller for a linear brushless DC motor,' Proceedings of World Academy of Science, Engineering and Technology, Vol. 20, pp. 211-215, Dec. 2007. [58] A. Rubaai, M.J. Castro-Sitiriche, and A.R. Ofoli, 'DSP-based laboratory implementation of hybrid fuzzy-PID controller using genetic optimization for high-performance motor drives,' IEEE Transactions on Industry Applications, Vol. 44, Iss. 6, pp. 1977-1986, Nov.-dec. 2008. [59] M. Huang, H. Lin, H. Yunkai, P. Jin, and Y. Guo, 'Fuzzy control for flux weakening of hybrid exciting synchronous motor based on particle swarm optimization algorithm,' IEEE Transactions on Magnetics, Vol. 48, Iss. 11, pp. 2989-2992, Nov. 2012. [60] C.-J. Lin, H.-Te. Yau, H. Yunkai, and Y.-C. Tian, 'Identification and compensation of nonlinear friction characteristics and precision control for a linear motor stage,' IEEE/ASME Transactions on Mechatronics, Vol. 18, Iss. 4, pp. 1385-1396, Aug. 2013. [61] S.-F. Chen, 'Particle swarm optimization for PID controllers with robust testing,' Proceedings of the International Conference on Machine Learning and Cybernetics, Hong Kong, China, Aug. 19-22, 2007. [62] F. Luo, X. Lin, Y. Xu, and H. Li, 'Hybrid elevator group control system based on immune particle swarm hybrid optimization algorithm with full digital keypads,' World Congress on Intelligent Control and Automation, Chongqing, China, June. 25-27, 2008. [63] Z. Chen, Y. Luo, and Y. Cai, 'Optimization for PID control parameters on hydraulic servo control system based on bacterial foraging oriented by particle swarm optimization,' International Conference on Information Engineering and Computer Science (ICIECS), Wuhan, China, Dec. 19-20, 2009. [64] Y. Luo and L. Li, 'Tuning PID control parameters on hydraulic servo control system based on chaos quantum-behaved particle swarm optimization algorithm,' International Conference on Logistics Systems and Intelligent Management, Harbin, China, Jane. 9-10, 2010. [65] R.G. Kanojiya and P.M. Meshram, 'Optimal tuning of PI controller for speed control of DC motor drive using particle swarm optimization,' International Conference on Advances in Power Conversion and Energy Technologies (APCET), Mylavaram, India, Aug. 2-4, 2011. [66] 陳信宏, 最佳化交互耦合控制於手輪馬達電動輪椅之路徑追蹤, 碩士論文, 國立台灣大學, 台北, 2012. [67] 林信志, 新型手輪馬達電動輪椅雙動力輪與控制策略的整合, 碩士論文, 國立台灣大學, 台北, 2011. [68] 魯珺田, 新型電動輪椅之手輪馬達動力輪的整合, 碩士論文, 國立台灣大學, 台北, 2011. [69] D. Hanselman, Brushless Permanent Magnet Motor Design, McGraw-Hill, New York, 2nd ed., 2003. [70] Karma 康揚, (2013,May 14), KM-AT20, [Online]. Available:http://www.karma.com.tw/goods_view.php?no=29 [71] 陳勇嘉, 手輪馬達驅動式電動輪椅之控制系統的研發, 碩士論文, 國立台灣大學, 台北, 2011. [72] M. Shahrokhi and A. Zomorrodi, 'Comparison of PID controller tuning methods,' Sharif University of Technology, May. 1999. [73] M. W. Foley, R. H. Julien, and B. R. Copeland, 'Comparison of PID controller tuning methods,' The Canadian Journal of Chemical Engineering, Vol. 83, Iss. 4, pp. 712-722, May. 2008. [74] J.G. Ziegler, and N.B. Nichols, 'Optimum settings for automatic controllers,' Journal of dynamic systems, measurement, and control, Vol. 115, Iss. 2B, pp. 220-222, June. 1942. [75] E. Elbeltagi, T. Hegazy, and D. Grierson, 'Comparison among five evolutionary-based optimization algorithms,' Advanced Engineering Informatics, pp. 43-53, Jan. 2005. [76] R. Eberhart and J. Kennedy, 'A new optimizer using particle swarm theory,' Proceedings of the Sixth International Symposium on Micro Machine and HumanScience, Nagoya, Japan, Oct. 4-6, 1995. [77] 林柳絮, 基于粒子群最佳化之強健PID控制器設計與應用, 博士論文, 國立台灣大學, 台北, 2011. [78] M. Dorigo, V. Maniezzo, and A. Colorni, 'The ant system: Optimization by a colony of ooperating agents,' IEEE Transactions on Systems and Cybernetics-Part B, Vol. 26, Iss. 1, pp. 29 – 41, Feb. 1996. [79] A. Carlisle and G. Dozier,'An off-the-shelf pso,' in The Particle Swarm Optimization Workshop, 2001. pp 1-6. [80] Y. Shi and R.C. Eberhart, 'Parameter selection in particle swarm optimization,' The 7th Annual conference on evolutionary programming, Vol. 1447, pp. 591-600, 1998. [81] J. Dorsey, Continuous and Discrete Control System: Modeling, Identification, Design, and Implementaion, 1st ed, Mcgraw-hill education, USA, 2005. [82] R. L. Kirby, C. Smith. and K. Parker, 'Wheelchair skills test (WST) version 4.2 manual,' www.wheelchairskillsprogram.ca/eng/testers.php, April. 2013 [83] 陳莞音, 台灣版魁北克使用者滿意度評量於輪椅類輔具使用者之運用, 碩士論文, 國立台灣大學, 台北, 2007. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/61701 | - |
dc.description.abstract | 本文之研究目的在於建立完整的手輪馬達式電動輪椅控制器,並運用粒子群最佳化於電動輪椅控制器PID參數的調整,使電動輪椅控制器得以符合控制性能的設計要求。文中先介紹手輪馬達式電動輪椅動力鏈系統的組成,動力鏈系統將手輪馬達、馬達驅動控制器、鋰鐵電池與整合式電磁煞車整合於一車輪內,而成為一動力輪,如此則僅需要一普通輪椅車架搭配兩個動力輪,即可結合成一手輪馬達式電動輪椅,再介紹無刷直流馬達運轉原理與驅動原理,使用方波驅動令馬達起步再搭配簡化弦波電流控制,以驅動控制手輪馬達式電動輪椅。
手輪馬達式電動輪椅控制器的控制目標有二,一為維持雙輪的命令轉速比,以符合使用者期待的轉動方向;二為控制單手輪馬達的轉速,以符合使用者期待的輪椅前進速度。手輪馬達式電動輪椅控制器可以分為兩個部分,第一部分為交互補償雙輪轉速的交互耦合轉速比控制器,其控制目標即是使輪椅克服雙輪不同的馬達特性或路況條件,以達到轉速比的穩定控制,使電動輪椅有正確的轉動方向;第二部分為單輪的閉迴路轉速控制器,藉由轉速閉迴路的回饋補償來實現穩定的轉速控制,以符合使用者期待的電動輪椅前進速度。 在電動輪椅控制器PID參數的調整上,本文運用粒子群最佳化法於手輪馬達式電動輪椅控制器的調整。由於PID控制器性能的好與壞,取決於是否能找到符合控制需求的PID控制器參數解,而傳統的PID控制參數調整方法,調整的過程通常較為繁瑣且控制器參數不易達到最佳化,因此本文藉由運用粒子群最佳化於控制器PID參數的調整,並將粒子群最佳化設計出的PID控制器,與藉由Ziegler-Nichols方法所設計出的PID控制器,對兩控制器進行模擬與實測的比較討論,以驗證基於粒子群最佳化控制器設計的控制效果,而經模擬與多次實測的比較後,可以證實運用粒子群最佳化法設計的PID控制器,有較佳於Ziegler-Nichols方法的控制效能。 | zh_TW |
dc.description.abstract | This paper establishes a comprehensive rim-motor-powered wheelchair controller. We will accomplish this by manipulating the particle swarm optimization (PSO) when adjusting the PID parameters, making the controller’s performance conform to design requirements. This paper begins by describing the rim-motor-powered wheelchair’s power chain system, which integrates the rim motor, motor driver, motor controller, lithium ion battery, and electromagnetic brake into a powered wheel; this allows for an ordinary wheelchair frame and two powered wheels to be combined into a rim-motor-powered wheelchair. Next, the paper defines the Brushless DC electric motor’s operation principle and driving principle, which uses a square wave to start the rim motor and a simplified sinusoidal current control to drive the rim-motor-powered wheelchair.
There are two objectives for the rim-motor-powered wheelchair controller: 1) maintain command of the two motors’ speed ratio to fit the direction of movement expected by the user, and 2) achieve the expected forward velocity for the wheelchair. The controller itself can be divided into two mechanisms. The first is the optimal cross-coupling speed ratio controller, which helps the wheelchair overcome the difference between the two motors’ characteristics in road conditions, achieves a stable speed ratio, and maintains the correct rotational direction of the powered wheelchair. The second is a single-rim motor with a closed-loop speed controller; this achieves a stable speed via closed-loop feedback compensation, which fits the wheelchair’s expected forward velocity. This study uses the PSO method to adjust the PID parameters. The PID controller’s performance depends on whether its parameter solution fits the control requirements; however, the process for a traditional PID control parameter adjustment method is usually more complicated, and it is unlikely that the controller’s parameters will be optimal. Hence, this article compares the PID controller designed using the PSO method with the PID controller designed using the Ziegler-Nichols method. By comparing the simulations and results from multiple experiments, we can confirm that the PID controller designed using the PSO method performs better than the controller designed using the Ziegler-Nichols method. | en |
dc.description.provenance | Made available in DSpace on 2021-06-16T13:10:05Z (GMT). No. of bitstreams: 1 ntu-102-R99522837-1.pdf: 31232412 bytes, checksum: d4cbc67c41abc3c8bf62ef90e16f1cf5 (MD5) Previous issue date: 2013 | en |
dc.description.tableofcontents | 誌謝 i
中文摘要 iii ABSTRACT v 目錄 vii 圖目錄 xiii 表目錄 xix 符號表 xxi 1 第一章 緒論 1 1.1 研究動機 2 1.2 文獻回顧 3 1.3 章節摘要 11 2 第二章 手輪馬達式電動輪椅動力鏈系統 13 2.1 動力鏈系統簡介 14 2.2 無刷直流手輪馬達原理 17 2.2.1 無刷直流馬達架構與原理簡介 17 2.2.2 霍爾效應感測器原理 20 2.2.3 無刷直流馬達三相Y接反電動勢波形 21 2.2.4 方波驅動 24 2.2.5 弦波驅動 26 2.3 無刷直流手輪馬達驅動原理 27 2.3.1 脈衝寬度調變控制技術與原理 27 2.3.2 方波電流控制 30 2.3.3 簡化弦波電流控制 31 3 第三章 手輪馬達式電動輪椅動態模型 37 3.1 手輪馬達模型 38 3.1.1 手輪馬達驅動器模型 38 3.1.2 手輪馬達結構介紹 41 3.1.3 手輪馬達力矩方程式 43 3.1.4 力矩與反電動勢常數 44 3.1.5 手輪馬達動態方程式 46 3.1.6 手輪馬達簡化模型 51 3.2 車體動態模型 53 3.2.1 電動輪椅車體結構介紹 53 3.2.2 電動輪椅車體動態方程式 54 4 第四章 手輪馬達式電動輪椅控制架構 59 4.1 手輪馬達式電動輪椅控制架構 60 4.2 單手輪馬達閉迴路轉速控制器 62 4.2.1 緩啟動轉速控制 62 4.2.2 閉迴路轉速控制 63 4.3 雙手輪馬達交互耦合轉速比控制器 70 4.3.1 交互耦合轉速比控制架構 70 4.3.2 交互耦合誤差計算 71 4.3.3 靈敏度計算 77 4.4 Ziegler-Nichols PID控制器 82 4.5 粒子群最佳化PID控制器 84 4.5.1 粒子群最佳化演算法 85 4.5.2 成本函數 88 4.5.3 PSO參數設定 89 5 第五章 模擬結果與討論 91 5.1 手輪馬達模型建立 92 5.1.1 手輪馬達系統參數 92 5.1.2 手輪馬達模型實現 93 5.2 單馬達閉迴路轉速控制器模型建立 95 5.2.1 事件觸發訊號產生器模型 97 5.2.2 緩啟動控制器模型 98 5.2.3 PID Feedforward轉速控制器 98 5.3 輪椅車體模型建立 99 5.3.1 輪椅車體參數識別 99 5.3.2 手輪馬達式電動輪椅模型 104 5.4 雙馬達交互耦合控制器模型建立 105 5.5 運用粒子群最佳化法於PID參數調整 105 5.5.1 單馬達閉迴路轉速控制參數選擇 106 5.5.2 雙馬達交互耦合轉速比控制參數選擇 107 5.6 模擬結果與討論 108 5.6.1 馬達模型比較 109 5.6.2 手輪馬達式電動輪椅模型比較 111 5.6.3 PSO與Ziegler-Nichols法模擬比較 112 5.6.4 運用PSO於不同載重下的OCCC設計 118 5.6.5 有無交互耦合控制器模擬比較 128 6 第六章 性能測試與比較 135 6.1 實驗設備與場地 136 6.2 緩啟動控制 139 6.3 PSO與Ziegler-Nichols法實驗比較 140 6.3.1 閉迴路轉速控制器 140 6.3.2 交互耦合轉速比控制器 142 6.4 載重變化對PSO結果實驗測試 145 6.4.1 載重60Kg下的最佳化參數,於不同載重下之實驗測試 145 6.4.2 載重80Kg下的最佳化參數,於不同載重下之實驗測試 148 6.4.3 載重100Kg下的最佳化參數,於不同載重下之實驗測試 150 6.5 有無交互耦合轉速控制器實驗比較 153 6.5.1 有載平地直線路測 154 6.5.2 有載單輪有草皮直線路測 157 6.5.3 有載平地轉向路測 160 6.5.4 有載單輪有草皮轉向路測 163 6.5.5 有載側斜坡(3.5度)直線測試 166 6.6 身障者輪椅試乘 169 6.6.1 活動操作技巧與安全性測試 170 6.6.2 使用者滿意度評量 171 7 第七章 結論與未來展望 175 7.1 本文結論 176 7.2 未來展望 177 REFERENCE 179 附錄A 187 附錄B 188 附錄C 190 附錄D 192 | |
dc.language.iso | zh-TW | |
dc.title | 運用粒子群最佳化法於手輪馬達式電動輪椅用交互耦合轉速比控制器設計 | zh_TW |
dc.title | Cross-coupling control with particle swarm optimization for a powered wheelchair driven by rim motors | en |
dc.type | Thesis | |
dc.date.schoolyear | 101-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 羅仁權(Ren C. Luo),郭重顯(Chung-Hsien Kuo) | |
dc.subject.keyword | 粒子群最佳化法,交互耦合轉速比控制,閉迴路轉速控制,手輪馬達,電動輪椅,動力鏈系統, | zh_TW |
dc.subject.keyword | Particle swarm optimization,optimal cross-coupling speed ratio control,closed-loop speed control,rim motor,powered wheelchair,power chain system, | en |
dc.relation.page | 194 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2013-07-31 | |
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-102-1.pdf 目前未授權公開取用 | 30.5 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。