電動輪椅及代步車為不同功能性障礙之中重度神經肌肉病變患者的日常生活行動輔助交通工具，然而一般電動輔具車在開發過程中欠缺整體系統考量設計(車體結機構、運動及動力驅動、馬達與控制器之動力匹配等)，在缺乏系統規格設定、驅動力學分析模擬、操作環境分析的研究發展及文獻參考資料情況下，無法系統化的選取適當組件匹配及操作控制參數，因此往往無法有效提昇輔具車整體效益。
因此本研究之目的為：系統化設計發展馬達及電動輔具車測試系統，探討量測馬達整體運轉機制及效能，量化馬達電壓、電流、轉矩、速度間等關係曲線，及評估電動輔具車整體機電整合運轉性能，提供動力系統匹配之選擇、研發數位式控制器的基本資料及電動輪椅/代步車成品的基本性能測試，以提昇符合個人身心障礙功能性需求之行動科技輔具。特定目標包括：（1）設計發展馬達特性測試系統以探討量測馬達動力特性及特性參數：其整體架構為以電磁煞車器給予輸出負載之模擬，及扭力計、轉速計、電壓電流感測器來量化馬達轉矩、轉速、電壓、電流等參數，並透過信號擷取設備及工業電腦來儲存測試數據及進行特性關係曲線的描繪；此外並提供控制器與馬達連線測試功能，提供動力匹配狀況及控制器雛型之檢測；（2）設計發展電動輔具車測試系統評估輔具車整體功能性：在進行實際道路測試之前，以此動態測試系統對電動輪椅/代步車作室內動態性能以及功能性的模擬測試，以坡度模擬裝置、差速測試裝置及環境阻力模擬裝置，分別檢測輔具車輛的爬坡能力、差速狀況以及模擬真實行車狀況之整體表現，功能性測試之結果可供研發設計人員改進之依據以及使用者選取輔具車之參考。
研發設計完成之馬達及電動輔具車測試系統，其校正結果顯示馬達測試系統之電磁煞車器、扭力計、轉速計元件具有相當高的準確度，能提供有效且正確的馬達輸出負載模擬及參數監測功能；電動輔具車測試系統部分其角度、環境阻力模擬及轉速測量功能之誤差也都相當細微，提供精確的行車狀況模擬及參數監控結果。
對於馬達特性以及電動輔具車功能性之測試實驗結果，清楚且詳細的顯示出四顆馬達之參數特性，由數據分析結果中除了可以清楚了解不同類型輔具車使用馬達之特性外，並提供同一馬達在不同電源供應及阻力負載下的變動特性，電動輔具車之功能性測試除了可以檢驗初步設計完成輔具車雛形之功能性、設計缺點外，更提供較原廠詳盡的性能參數數據，可針對電動輔具車之相關安全規範以及個人之需求做了解與探討。
測試系統未來研究及改良方向包括：擴充馬達測試系統對於不同類型馬達之測試功能，以提供更多類型、廣泛的馬達測試評估工作；以及電動輔具車動態測試及場地測試之進階規劃，以更完善、嚴謹的進行輔具車成品的功能評估工作。

Powered wheelchairs (PWCs) and scooters are the major mobility device for the neuromuscular skeletal impairment, elderly or chronic illness. Current design and development of the powered mobility device are often lacking of systematic consideration on structure and kinetics/dynamics of propulsion as well as power system (motor, Controller), and integrated design with appropriate components matching. Therefore, it is always lead to poor efficiency and performance of PWCs.
This research was to design and develop a motor testing system and a PWC/scooter testing system for providing motor characteristics (voltage, current, torque, speed, efficiency) in appropriate power system selection and information to improve digital controller design, and for performance and efficiency evaluation of PWCs and scooters, respectively. The specific aims of this research included： （1）Design and Development of a motor testing system consisting of powder break, torque meter, tachometer, voltage and current sensors, to measure power characteristics. The powder break is used to simulate working loads on motor, and the speed, voltage, current, torque parameters are measured and evaluated. The motor efficiency is calculated by （Torque Speed/Voltage Current）；（2）Design and Development of a PWC/scooter testing system, consisting of powder break, actuator, tachometer, voltage, current and temperature sensors, to measure functional performance. Static and dynamic testing on climbing slope simulation and differential simulation and working load simulation are conducted through this system, and the parameters of PWC/scooter are measured and evaluated for the performance. The collected data provide useful information to consumers and manufactures.
Calibration of the motor testing system shows that the powder break, tachometer and torque meter are functional well with very high accuracy and consistency. The PWC/scooter testing system functions very well to provide static and dynamic testing on powered wheelchairs and scooters. Both systems are useful to provide power characteristics of PMDC motor and functional performance of powered wheelchairs and scooters.
The results of PMDC motors testing indicate that there are significant difference in the maximum torque output and speed between powered wheelchair and scooter motors, and provide the characteristics of each motor under different applied voltages and working loads. The PWC/Scooter testing system is valuable to provide more detailed data than those supplied from manufactures. The information resulted from two testing system will be used to improve PWC design lead to more independence for the person with disabilities
The future work is suggested as following：（1）expand the function of motor testing system for AC motor, servo motor and etc.；（2）develop more simulation testing and conduct field testing for powered wheelchairs and scooters.

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