基于极点配置算法的下肢康复机器人控制系统设计  

Design of control system for lower limb rehabilitation robot based on pole placement algorithm

作　　者：陈隆飞 方娟 张秋菊 穆载乐 CHEN Longfei;FANG Juan;ZHANG Qiuju;MU Zaile(School of Mechanical Engineering,Jiangnan University,Wuxi 214122,China;Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment Technology,Wuxi 214122,China)

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]江苏省食品先进制造装备技术重点实验室,江苏无锡214122

出　　处：《传感器与微系统》2020年第1期63-67,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(81401856)

摘　　要：针对目前下肢康复机器人控制系统设计时,存在的参数配置复杂、忽略踝关节的康复训练等问题,提出了一种基于极点配置算法的下肢康复机器人控制系统。根据下肢关节机械结构非线性运动,采用极点配置算法设计控制器,通过z变换对设计的控制器进行离散化处理,在以ARM-M3为内核的STM32微控制器中实现位置闭环控制。STM32微控制器通过串口协议与上位机通信,实现触摸屏控制微处理器,从而控制下肢康复机器人的运动模式。并实时地把各关节的角度信号和作用力信号传输到上位机进行曲线显示。实验对8名被测者在不同减重比下的被动行走训练进行测试,通过分析关节角度曲线和关节驱动力曲线,该控制系统能够实现下肢康复机器人在不同康复训练模式下协调平稳的控制。并能满足一定康复训练要求。Aiming at the problem that control systems of current lower limb rehabilitation robot complicated parameter settings and inclusion of rehabilitation training of the ankle joint,a control system for a lower limb rehabilitation robot based on pole placement algorithm is proposed.According to the nonlinear motion of the mechanical structures for lower limb joints,the pole assignment algorithm is used to design the controller.The controller is discretized by z-transform.The closed-loop position control is realized in the STM32 microcontroller,using ARM-M3 as the kernel.STM32 microcontroller communicates with the host computer through serial port protocol.Touch screen controls microprocessor,so as to control the movement of the lower limb rehabilitation robot.And transmitts the angle signal and force signal of each joint to the host computer for curve display in real time.The passive walking training of 8 subjects under different weight support ratios is tested.By analyzing the joint angle curve and joint driving force curve,the control system realizes the coordinated and stable control of lower limb rehabilitation robot under different rehabilitation training modes.It is concluded that the lower limb rehabilitation robot with the developed controllers meet certain rehabilitation training requirements.

关 键 词：极点配置算法 康复机器人 控制系统 STM32微控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]