爬階輪椅之控制器設計與實作｜國立清華大學博碩士論文庫

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研究生：	陳威成 Chen, Wei-Cheng
論文名稱：	爬階輪椅之控制器設計與實作 The design and implementation of a climb-step wheeled chair
指導教授：	陳建祥 Chen, Jian-Shiang
口試委員:
學位類別：	碩士 Master
系所名稱：	工學院 - 動力機械工程學系 Department of Power Mechanical Engineering
論文出版年：	2009
畢業學年度：	97
語文別：	中文
論文頁數：	69
中文關鍵詞：	爬階輪椅、電扶梯、平衡、交叉連桿
外文關鍵詞：	climb-step wheeled chair, escalator, balance, crossing-linkage
相關次數：	點閱：64 下載：0
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摘要
隨著醫療科技的進步，人類平均壽命的提升，導致全球人口結構逐漸地老化，促使高齡社會悄悄地來臨。為了改善因身體機能退化而造成的不便，老年輔具由此而生。
本研究是在設計一個搭電扶梯為主、爬一階階梯為輔的智慧型輪椅。在國內，電扶梯的上升和下降速度差不多以15cm/s左右為主，這將導致在升降機構的設計必須具有快速上下移動的能力，於是利用交叉連桿的特性──「小角度換大位移」來達成上述要求。為了決定升降系統、爬階輔助機構、後輪和威爾迪爾桁架之尺寸大小，本研究根據虛功原理、力學分析與動態模擬，再配合電扶梯規格、階梯規格和市場趨勢，來完成實驗平台。接著，本研究以C8051F340為核心，整合馬達控制、搖桿與感測器之訊號擷取、RS232傳輸、數位濾波器及PD控制器。最後，本研究除了以搭乘電扶梯與爬一階階梯的實驗結果來驗證爬階輪椅之可行性外，並利用RS232回傳的傾斜角度來說明爬階輪椅具有維持車身水平的基本能力。

Abstract
Due to the advancement of medical technology, the average age of human has been prolonged, which results in the coming of aging society. To solve the problem of the physically handicapped to move outdoors, the assistance device for the elderly and disabled would be designed by human.
In this thesis, first, an intelligent wheelchair can be designed to accomplish two missions, one of which is to take the escalator, the other is to climb up the step stably. In Taiwan, the ascending or descending speed of escalator is around 15cm/s, which causes the design of mechanism must be mobile, so we adopt the crossing-linkage for its characteristic - “ good response at transforming speed ” to satisfy above-mentioned condition. Through virtual work principle, dynamic analysis, the specification of escalators and step, stress analysis, and the trend of market, we are able to decide the size of crossing-linkage, the assistance device for climbing step, rear tires, and Vierendeel frame truss to accomplish experimental model. Second, we use the MCU C8051F340 as the control center of entire system, which combines the motor control, signal processing of the joy stick and sensors, communication in RS232, the digital filter, and the PD controller. Finally, we not only verify the performance of stair-climbing wheelchair based on the experiments of taking the escalator and climbing one step, but also illustrate the fundamental ability of balance with the inclined angle which is transmitted by RS232 from C8051F340.

目錄
第一章    緒論    1
1-1研究背景與動機    1
1-2文獻回顧[1][2][3]    2
1-2-1輪組型爬階輪椅[4][5]    3
1-2-2履帶型爬階輪椅[6]    4
1-2-3腿型爬階輪椅[8][9]    4
1-2-4整合型爬階機器人[10]    5
1-2-5結論    6
1-3欲達成目標之情節描述    7
1-4本文架構    9
第二章    問題描述    10
2-1爬階輪椅設計規範    11
2-1-1後輪爬階梯的力學分析與限制條件    11
2-1-2電扶梯限制條件[11][12]    13
2-2升降機構力學分析    15
2-2-1虛功原理(virtual work principle) [13][14]    15
2-2-1-1約束條件：    15
2-2-1-2虛位移(virtual displacement)：    15
2-2-1-3虛功原理(virtual work principle)    17
2-2-2交叉連桿力學分析    18
2-3爬階輔助機構力學分析    20
2-4威爾迪爾桁構架，簡稱威廉迪爾桁架(Vierendeel frame truss)[15]    23
2-5馬達驅動控制器[16]    24
2-6    PID控制器[17][18][19]    26
第三章    實驗系統架構    30
3-1    實驗硬體簡介    30
3-1-1 C8051F340[22]    30
3-1-2電動輪椅[23]    32
3-1-3馬達驅動器    34
3-1-3-1直流馬達驅動器[24]    34
3-1-3-2    步進馬達驅動器[25]    35
3-1-4傾斜計[26]    36
3-1-5電源轉換電路    38
3-2實驗軟體簡介    39
3-2-1 Keil C51[27]    39
3-2-2 Solid Works 2008[28]    40
3-3    實驗系統架構    41
3-3-1爬階輪椅設計流程    41
3-3-2電路系統架構    42
3-3-3實驗系統架構    43
第四章實驗結果    44
4-1爬階輪椅實體製作    44
4-1-1升降機構    44
4-1-3桁架機構    46
4-1-4爬階輪椅    47
4-2搭乘電扶梯之實驗    48
4-2-1平衡機制之控制方塊圖    48
4-2-2搭乘電扶梯之實驗結果    49
4-2-3搭乘電扶梯之角度響應    51
4-3爬一階階梯之實驗    52
4-3-1後輪爬一階階梯    52
4-3-1-1模式一    53
4-3-1-2模式二    54
4-3-1-3後輪爬一階階梯之實驗結果    55
4-3-1-4後輪爬一階階梯之角度響應    55
4-3-2前輪爬一階階梯    57
4-3-2-1模式一    57
4-3-2-2模式二    58
4-3-2-3模式三    58
4-3-2-4前輪爬一階階梯之實驗結果    59
4-3-2-4前輪爬一階階梯之角度響應    60
4-3-3爬階輪椅下樓梯    62
4-3-3-1爬階輪椅下樓梯之角度響應    62
4-4結論    64
第五章    本文貢獻與未來發展之建議    65
5-1本文貢獻    65
5-2未來發展之建議    66
參考文獻    67

                                

參考文獻
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