| 摘要 |
A power wheelchair is provided having opposing drive wheels wherein the axles of the drive wheels are coupled directly to the rotor of drive motors. These motors are brushless motors, wherein each has a brake located within the motor housing which acts directly on the rotor. The brake is a fail-safe brake since it is in a non-engaged position when activated. In another embodiment of the invention, permanent magnet rings of the motor have been magnetized so as to generate a trapezoidal wave function corresponding to the relative displacement of the rotor to the stator. This wave function is used by a microprocessor to independently control the two opposing drive wheels which may be rear drive wheels, mid-drive wheels or front drive wheels. |
