| Walk training machine is a kind of rehabilitation instrument that can provide standing walk training and strengthen function of lower limb for lower limb functional disorder patients, and it belongs to rehabilitation robot. This machine is designed mainly for the paralysis, lower limb movement disorder patients. The requirement of its safety performance and comfort is high. The paper designs the mechanical structure and electrical drive systems, and mainly introduces the design of electrical drive systems. The innovations of this paper: 1. DSP and other electrical control technology will be applied to rehabilitation aids;2. DSP, PID and PWM control techniques such as the combination used in brushless DC motor control.Firstly, this paper presents the mechanical structure of walk training machine design, describes the function of electric walk training machine.Then, the design of the control system is given,the motor of electric walk training machine is chose. Double-loop speed control system, PID control strategy and PWM control technology are used.Thirdly, the system's hardware is structured. An IPM is used as power-driven device and TI's DSP is used as the controller.Fourthly, Independent function blocks are established in Matlab/Simlink circumstances. By organic combination of these blocks, the simulation model of control system for BLDCM is established. Its PID control parameters are obtained through a series of tests. The corresponding procedures are wrote in assembly and C language to conduct the software implementation. Software design uses modular design method to achieve the motor all-digital speed governing technology.Finally, the paper describes the debugging environment and equipment, gives the experimental waveforms and the experimental results were analyzed. Experimental results show that this design of the control system has good performance, and basically achieve the desired design requirements, and provid a good foundation for follow-up research. |
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