Design And Research Of The Control System For Rehabilitation Horse

With the development of the living material, more people pursue the high-quality way of life. Horse riding becomes a growing popularity way of the fitness, However, it is inconvenience to keep hourse in the city or to the race course for horse riding. Riding fitness machine like rehabilitation horse will be widely used.Rehabilitation horse design is basically completed. In theory, it can run like the real horse. But if you want to make it run freely as the way you want, the drive control part must be the key. At the same time, in order to achieve the requirements of the rehabilitation equipment and the experimental system, the monitoring is necessary.In this paper, a lot of work has been done in the drive part and control part and monitor part to make the rehabilitation horse as a perfect experimental system. Firstly, Made the kinematics and dynamics model based on the study of motion about hourse and people's fitness rehabilitation mechanism, and developed the rehabilitation hourse successfully. The model was imported into Adams to analyze kinematics and dynamics. Then we design the control scheme which based on AC servo motor and PLC and HIM. In this way, the robohorse can run in three typical mode and like a real horse with high propulsion efficiency through a combination of motion; At last, based on bionics about function, we use PLC and touch panel with the program to build a more harmonious platform for people and rehabilitation horse.We have monitor the entire system of the rehabilitation horse running, and find it conformed well with the design parameters. We hope that our product will inject new blood to people healthy and green life.