| The Assistive Walking Robot is a new research field in recent years, and widely arouses people's attention more and more. It is a set of mechanical device which could be put on and improve the strength and speed of the operator. This system applied in the device is a typical design that integrate the operator and mechanical device harmoniously. This paper investgates and designs the servo driven system for the assistive walking robot, which is designed to inhance the capability of lower limbs.According to the traits and control requirements of assistive walking robot, high quality digital signal processor(DSP) is adopted so as to design digital servo control system to control the DC motor and drive the action of joins of lower limbs.Basing on the designed system of mechanical structure and general control frame, this paper focuses on the design of a PID control system with positoin, speed and current loops, refering to TMS320F2812 DSP control method about the lower limbs'joins of assistive walking robot. Having constructed the DC motor mathmatic model, utilize the simulink of Matlab to simulate the control system. The control effect is optimized through selecting proper key parameter for position, speed and current loops of PID controller,and the result reveal this kind of control strategy is very reasonable and desirable.This paper designed the software model, and configurated the hardware resource and build the control arithmetic in the CCS build-essential of DSP. Programming the eCAN controller in the TMS320F2812 DSP, achieved the transmission of CAN signal; and the communication protocol between nodes of PC and DC motor in the whole CAN bus network control, which paved the way for the harmonious control of the assistive walking robot's components based on CAN bus.Through debugging the software and hardware of the control system, the operation situation of the system's velocity and position could be acquired, which mainly conform to the expected requirement. |
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