Development And Research Of Multi-axis Rehabilitation Force Controller Based On STM32

This research focuses on the development of the multi-axis controller of the force applicator,the purpose of which is to realize the integration,economy and miniaturization of the function of the force applicator controller.Although the domestic research on the mechanical structure of multifunctional rehabilitation equipment has achieved fruitful results,there is still a big gap with foreign countries in the research of motion controllers and related control algorithms.The excessive research and development costs of motion controllers and the lack of control technology research have led to the introduction of domestic mainstream rehabilitation training systems from abroad,but their high cost and confidentiality of technology limit the cost reduction and core of the domestic force control system.Technical mastery.In response to this situation,it is necessary to conduct in-depth research on the software and hardware architecture of the controller,to meet the control of the multi-training mode of the force applicator,and to reduce the cost of R & D,use,and upgrade of the controller in order to realize the generalization of the controller and products Change.This thesis is oriented to the motion control requirements of the force applicator,that is,to realize the diversification of equipment functions.First,the hardware architecture of the controller is studied,and a control circuit board scheme with STM32F407IGT6 microcontroller as the core is proposed.At the same time,fully considering the needs of actual applications,the modular design idea is adopted to complete the hardware circuit board design,functional test and software design of the multi-axis controller,so that the controller has 4motor interfaces,4 analog inputs,2 channels Analog output,16-channel switch input,4-channel incremental encoder input and other interfaces are implemented in the STM32 Cube MX software,and the bottom layer is programmed in the development tool IAR.Secondly,the control principle of the servo motor is briefly analyzed,and the four training mode control algorithms of constant speed,equal length,isometric,and passive are developed based on the structure characteristics of the force applicator and the performance requirements of the controller.STM32closed-loop control system.In order to realize the cooperative control of multi-appliers,the multi-axis cooperative control strategy was explored.By building a servo motor control model in MATLAB / Simulink,the classic parallel,serial and cross-coupled cooperative control algorithms were simulated and tested These classic algorithms are not suitable for motor control with complex coupling,After in-depth study,a fuzzy PID cross-coupling synchronous control algorithm is proposed.Under load disturbance,MATLAB /Simulink is used to simulate the proposed algorithm.The experimental results show that the fuzzy PID-based cross-coupling control has good synchronization performance,improves the response speed of the system and suppresses overshoot.Finally,the various functional modules of the developed system were debugged in the laboratory and on-site,and the algorithms of the developed filtering and constant-speed,passive,and isometric training modes were tested.Use Sigma Win + Ver.7 software to communicate with the servo driver,track and collect the motion process waveform in real time,and combine the serial port screen for data analysis.The results show that the hardware circuit of the developed multi-axis controller based on STM32 is stable and has a good effect in practical applications.The control and filtering algorithms of the four motion modes of the force generator basically meet the requirements.The successful development of the multi-axis force applicator controller has laid a solid foundation for the subsequent economical,miniaturization and generalization of the force applicator control system.