摘要我国老人、残疾人数量快速增长，而国内无障碍设施和电梯普及率较低，本文以已取 得国家专利的爬楼助行装置设计为基础，在总结、综合已有驱动方案的基础上，给出了电 机驱动方案。

首先，简要介绍了助行轮椅的结构和原理，分析了助行轮椅的各项性能要求，比较了 三种常用电机的优缺点，给出了选用电机的参数。75309

其次，介绍了驱动系统的组成部分，根据设计方案进行芯片、元器件的选型，给出了 各模块的原理图，着重介绍了 IPM 芯片，强调了应用时的注意事项。

再次，介绍了常见的两种电源芯片，并对比分析两者的优缺点，然后针对设计方案的

要求给出了电源电路的原理图。

最后，介绍了 Altium Designer 电路设计软件，分析了电路板设计的要求，给出了具体的 设计步骤，最后展示设计完毕的 PCB 电路板。

毕业论文关键词 助行轮椅， 驱动电路， 无刷直流电机， IPM， 开关稳压芯片

毕 业 设 计 说 明 书 外 文 摘 要

Title Motor Drive Circuit Design For Mobility-Aid Robot

Abstract The number of the elderly and the disabled is growing rapidly in China。 However, the penetration of the barrier-free facilities and the lifts is far beyond enough。 In this dissertation, existed motor drive schemes are analyzed by synthesis and a motor drive circuit design is given, which is based on a patented mobility-aid robot design in China。

First, according to the performance requirements of the machine, the advantages and disadvantages of three kinds of commonly used motor are discussed。 In addition, the parameters of the selected motor are given。

Second, each portion of the drive system is briefly introduced。 Chips and other components are selected by requirement and the schematic diagrams are shown respectively。 Furthermore, the IPM chip is emphatically introduced and matters need attention are also mentioned。

Third, two kinds of commonly used voltage-stabilizing power supply chips are introduced and compared。 The schematic diagram of the power supply circuit is given as well。

Finally, the PCB designing software, Altium Designer, is introduced and the circuit board is designed step by step according to the requirements and pre-set rules。 The completing PCB diagram is shown at the end。

Keywords Mobility-Aid Robot, Motor Drive Circuit, Brushless DC Motor, IPM, Switching Voltage- Stabilizing Power Supply Chips

本 科 毕 业 设 计 说 明 书 第Ⅰ页

目 录

1绪论 1

1。1课题背景 1

1。2研究意义 2

1。3伺服驱动系统国内外研究现状 · 2

1。4本文主要研究内容与行文安排 · 3

2助行轮椅简介 5

2。1助行轮椅结构 · 5

2。2装置成本分析 · 5

2。3本章小结 6

3驱动电机 7

3。1电机的比较与分析 · 7

3。2电机的选型 7

3。3本章小结