PID算法与电位计角度控制的手臂外骨骼  

Arm Exoskeleton Based on PID and Potentiometer Angle Control

作　　者：蒋青山 王凯 赵鹏 蒋少国 张起浩 Jiang Qingshan;Wang Kai;Zhao Peng;Jiang Shaoguo;Zhang Qihao(Department of Electronic Science,Nankai University Binhai College,Tianjin 300270,China)

机构地区：[1]南开大学滨海学院电子科学系

出　　处：《单片机与嵌入式系统应用》2019年第11期78-81,共4页Microcontrollers & Embedded Systems

基　　金：天津市市级大学生创新创业训练计划项目资助-手臂力量增强装置(201813663019)

摘　　要：提出了一种基于PID控制的手臂外骨骼,采用Arduino Nano作为手臂外骨骼的主控,通过HX711压力传感器采集手臂上物体的重量,通过电位计采集手臂转动角度,使用具有欠压、过压、过热、短路等保护性功能的VNH2SP30电机驱动模块驱动大扭力电机。装置的承重材料和机械结构采用碳纤维材料3D打印而成,因此更加轻巧、容易佩戴。由于加入了PID算法控制及电位计角度控制,整个装置反应更迅速、控制更精准、安全性更高,能更好地满足手臂外骨骼工作的需要。In the paper,an arm exoskeleton based on PID control is proposed.The Arduino Nano is used as the MCU of the arm exoskeleton.The weight of the objects loaded on the arm is collected by the HX711 pressure sensor.The angle of rotation of the arm is collected by the potentiometer.The VNH2SP30 motor drive module for protection functions such as pressure,overheat, and short circuit drives a large torque motor.The load-bearing material and mechanical structure of the device are printed in 3D carbon fiber material,so it is lighter and easier to wear.PID algorithm is introduced for system control and potentiometer angle control,therefor,the system acquires the ability of rapid response,precise control,and higher safety,which better meets the needs of the arm exoskeleton work.

关 键 词：手臂外骨骼 PID算法 ARDUINO NANO HX711 

分 类 号：TP368.1[自动化与计算机技术—计算机系统结构]