sullivan

sullivan - 01/10/12 CJS AAE 666 Final Project 1 AAE 666...

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Unformatted text preview: 01/10/12 CJS AAE 666 Final Project 1 AAE 666 Final Project Disturbance Gain Analysis of Electric Drive System on Wheelchair Chuck Sullivan 4/30/2005 01/10/12 CJS AAE 666 Final Project 2 Disturbance Gain Estimation for Electric Wheel Chair Drive Background Electric Drive propulsion for wheel chair, medical application by Delphi Corporation (Kokomo IN, Flint MI) Chair consists of : Wheel chair chassis 24V battery, electric drive motor on each rear wheel (2) Hand controller (joystick) Puff and Sip controller Central controller (motor controller, accessory controls) Electric propulsion DC motors and drives Control of dc motors 01/10/12 CJS AAE 666 Final Project 3 Disturbance Gain Estimation for Electric Wheel Chair Drive Motivation 2 main electric drive modes for motors Speed and current control with speed sensors IR drop compensation for operation without speed sensors Drivability in both modes is both a quality of feel and safety issue IR drop compensation is target of stability and drivability (no speed sensor) Stability and steady state gain due to driver command Disturbance rejection capability (obstacles , incline/decline surfaces) 01/10/12 CJS AAE 666 Final Project 4 Disturbance Gain Estimation for Electric Wheel Chair Drive Objective Analyze disturbance rejection capability of wheel chair under IR Drop Compensation control Application and demonstration of both linear and non-linear analysis tools presented in class Analysis techniques: Disturbance gain from estimation from Lyapunov equation Disturbance gain from through simulation of state space representation LMI characterization of gain Comparison of these techniques to detailed model simulation 1 H L 1 H 01/10/12 CJS AAE 666 Final Project 5 Disturbance Gain Estimation for Electric Wheel Chair Drive System Representation DC machine system relationships (open loop) Using , after simplification: L V w L K i L r t i J T i J K w J B t w a r v a a a L a T r m r + - - =- + - = d d d d a T e i K T = 01/10/12 CJS AAE 666 Final Project 6 Disturbance Gain Estimation for Electric Wheel Chair Drive System Representation With IR drop compensation Using into previous equations: [ ] = = = - + --- =...
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sullivan - 01/10/12 CJS AAE 666 Final Project 1 AAE 666...

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