The Control Method Research Of Motor Sliding Mode On Upper Limb Rehabilitation Robot Joint

Since 21 st century,the society and people’s life have increased. But human disease is also growing. Paralysis patients could not live by themselves, which directly brought heavy pressure to family and society. People have higher life quality, makes some rehabilitation medical equipment come out. At present, these is a hotspot research domestic and foreign, which is combine robot and rehabilitation engineering. In some rehabilitation medical hospital, patients mainly rely on some simple equipment for training. And it also need professional guidance of physician. All of these can’t meet the needs of the intelligent.This topic research human upper limb motion mechanism and rehabilitation theory. According to the current situation of the development of rehabilitation robot domestic and foreign. Combining the theory of mechanical and electrical control, to better complete the upper limb rehabilitation training for paralysis patients, the motor drive control system are studied.For upper limb rehabilitation robot, the paper analyse the overall system solution and determine the overall structure of the rehabilitation robot. The paper chose electric control as drive method and brushless DC motor as drive motor. Then the paper design a position control for the drive motor. The paper content following research.First, the paper introduce the research background and significance. The paper summarize current research status and development direction in the future of brushless DC motor and control strategy.Second, the paper analyse brushless DC motor structure and working principle. And infer the mathematical model of the motor. The paper use MATLAB/Simulink to simulate model of brushless DC motor control system, then verify correctness of the model.Finally, the paper design a DOB of sliding mode combining mathematical model. And the paper put the DOB to the drive motor, and control it for position. In view of the traditional sliding mode controller can not meet the multi-variable, strong coupling and complex system position control accuracy of the brushless DC motor, the paper design DOB with sliding mode controller. The results show that, the controller can be to make the system state in finite time adduction convergence to the desired value, improve the system steady-state tracking speed and control precision effect.