Braking and Hill Start Assist Control Strategy for a Powered Wheelchair Driven by Rim Motors
Date Issued
2014
Date
2014
Author(s)
Wu, Chen-Wei
Abstract
This paper presents a comprehensive braking and hill start assist control strategy. By controlling multi-disc brake and motor electric brake, the strategy can establish an uphill start assist control to achieve safe and comfortable braking effect.
This paper firstly introduces a rim-motor-powered wheelchair’s power chain system with integrating rim motor, motor drive, motor controller, lithium-ion battery, and multi-disc brake, which allows making a rim-motor-powered wheelchair by simply combining an ordinary wheelchair frame and two powered wheels. Next, the paper describes 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. The rim-motor-powered wheelchair’s brakes are divided into two systems, the mechanical brake system and the electronic brake system. In this paper, we exhibit the mechanical brake system with introducing the multi-disc brake discs, which uses the principle of the spring pressed glass fiber sheet to generate braking force and control the braking force by the motor’s position. On the other hand, the electronic brake system uses the motor’s back-EMF by controlling the insulated gate bipolar transistor switch to produce brake torque. The electronic brake system can be divided into three different braking methods, regenerative braking, plug braking, and dynamic braking. This paper also describes the uphill start assist control using gravity sensors to determine the slope and control the motor and the brake, which can achieve a smooth start on uphill without slip.
In this research, by comparing the simulation and experiment results, we can confirm the effect of braking and hill start assist control strategy of a rim-motor-powered wheelchair, and establish a comprehensive braking and hill start assist control strategy, to achieve safe and comfortable braking effect.
Subjects
電子式煞車
上坡起步
閉迴路轉速控制
手輪馬達
電動輪椅
動力鏈系統
SDGs
Type
thesis
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