Research On Control System Of PMSM For Lower Limb Rehabilitation Training Apparatus

With the global aging people and patients with lower limb dysfunctiongrowing，research of the lower limb rehabilitation training apparatus are graduallydeepening，the training apparatus accuracy requirements are also rising. Therefore,the development of a high-precision, high-performance lower limb rehabilitationtraining apparatus control system has a very practical significance.In this paper, with the context of the lower limb rehabilitation training, wedesigned a PMSM control system，which is based on DSC. As a master chip, the DSCrealize the precisely control at the speed and position of the PMSM, greatly improvethe accuracy and reliability of rehabilitation training system.First, with the combine of the lower limb rehabilitation theory at clinical andexercise therapy, we describes the feasibility of lower limb rehabilitation traininginstrument. As a example of stroke patients with hemiplegia, we introduce thedifferent modes of training under the rehabilitation period, and based on this proposedrequirement for motor control.Against the study of the control system, we sympliedits mathematical model, analysis its structure in the dq mathematical modelcoordinates,and introduce the voltage space vector control theory. Then we designedthree PI regulator based on the lower limb rehabilitation works instrument.Thehardware and software system is also designed.In hardware design, the DSC producedby Mirochip company is used as a core control chip,the brake rectifier invertermodule produced by Mitsubishi company is used as the driver body. Softwareplatform designed to MAPLAB SVPWM written procedures and the functionalmodule program, the paper gives the most control program flow.Finally, a space vector system simulation model is built on the MATLABplatform.We studied the model and the simulation results are analyzed, which laid asolid foundation for the further study of the theory and practice. At last, we give thewaveform hardware experiments, comparing the simulation results obtained with theideal control effect...