用于康复训练的永磁同步电机等速运动控制仿真  

Simulation of Constant Speed Motion Control of Permanent Magnet Synchronous Motor for Rehabilitation Training

作　　者：沈先成 白国振[1] 马宇航 陆鑫浩 左寅虎 SHEN Xiancheng;BAI Guozhen;MA Yuhang;LU Xinhao;ZUO Yinhu(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《轻工机械》2024年第2期56-60,共5页Light Industry Machinery

摘　　要：为实现康复训练中的等速运动控制,课题组根据等速运动的概念和特点搭建了永磁同步电机速度控制系统仿真模型。在建立电机数学模型基础上,利用PID控制器实现电机电流环和速度环控制;采用余弦函数设计动态速度规划器,实现升速阶段和减速阶段速度和加速度无突变;采用判断转矩阈值方法,实现运动意图识别。结果表明:系统仿真模型输出的速度和转矩与规划的训练速度和模拟的用户输入转矩基本重合,在等速运动阶段和换向时,速度波动小。该仿真模型可用于康复用等速运动控制。In order to realize the isokinetic motion control in rehabilitation training,a simulation model of the speed control system of permanent magnet synchronous motor according to the concept and characteristics of isokinetic motion was built.On the basis of establishing the motor mathematical model,the PID controller was used to realize the motor current loop and speed loop control.The cosine function was used to design the dynamic speed planner to realize the speed without sudden change in the stage of acceleration and deceleration.The method of judging torque threshold was adopted to realize motion intention recognition.The results show that the output speed and torque of the system simulation model basically coincide with the planned training speed and the simulated user input torque,and the speed fluctuation is small in the constant speed stage and the commutation stage.The simulation model provides a reference for the research of isokinetic motion control for rehabilitation.

关 键 词：永磁同步电机 康复训练 等速运动 动态速度规划 PID控制器 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置] TH82[自动化与计算机技术—控制科学与工程]