| Summary: | 碩士 === 國立交通大學 === 電機學院碩士在職專班電機與控制組 === 97 === Comparing to general DC Motor, In-Wheel Motor has the following advantage: low cost, small size, light weight, no deceleration device, and relatively simple transmission mechanism. For over all system, it has the higher efficiency and higher power density, and smaller stress of components, which could prolong motor’s life.
The main object of this thesis is to construct a digital servo in-wheel motor system, and to test the digital PID controller performance. The system consists three parts: 1. In-Wheel Motor driver ; 2. Digital PID controller ; 3. Servo control interface software.
First of all, principle of In-Wheel Motor, specification, and principle of dc chopper are introduced. In addition, the design and implement the digital PID controller. Finally, a Microchip Pic18F452-based In-Wheel Motor servo system is designed and verified the performance by Servo control interface software.
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