【摘要】：醫(yī)療外骨骼機(jī)器人是一款用于輔助下肢截癱患者恢復(fù)行走能力的康復(fù)機(jī)器人,多采用無(wú)刷伺服電機(jī)為其動(dòng)力源。由于外購(gòu)電機(jī)驅(qū)動(dòng)存在擴(kuò)展性不強(qiáng)、通信復(fù)雜、價(jià)格昂貴、可控程度低等問(wèn)題,本文圍繞驅(qū)動(dòng)在外骨骼控制中所需求的控制模式,開(kāi)發(fā)了一套外骨骼專用的伺服驅(qū)動(dòng)系統(tǒng)。主要的研究?jī)?nèi)容如下:實(shí)現(xiàn)了基于矢量控制方法的外骨骼無(wú)刷電機(jī)伺服控制方案。分析了矢量控制基本原理,簡(jiǎn)化了無(wú)刷電機(jī)的數(shù)學(xué)模型,研究了數(shù)字化空間電壓矢量調(diào)制的實(shí)現(xiàn)方法。綜合伺服驅(qū)動(dòng)的位置三環(huán)閉環(huán)控制原理,在Simulink中搭建了伺服控制仿真模型,為關(guān)鍵問(wèn)題的研究以及實(shí)際物理平臺(tái)的搭建提供理論基礎(chǔ)。針對(duì)外骨骼系統(tǒng)中采用電機(jī)驅(qū)動(dòng)的關(guān)鍵技術(shù)提出了解決方案。在電流控制中,通過(guò)減小空間矢量調(diào)制(SVPWM)周期,解決了由于電機(jī)繞組電感過(guò)小產(chǎn)生的相電流波動(dòng)問(wèn)題;在速度控制中,引入了基于M法的鎖相環(huán)速度估算方法,提高了低速下的穩(wěn)定性;在位置跟隨中,對(duì)點(diǎn)到點(diǎn)(PTP)梯形位置插值的問(wèn)題,實(shí)現(xiàn)了一種簡(jiǎn)易的PTP決策方法使得每個(gè)點(diǎn)到點(diǎn)的位置插值可被重新規(guī)劃,對(duì)多點(diǎn)插值問(wèn)題,實(shí)現(xiàn)了基于Hermite三次多段的位置、速度、時(shí)間(PVT)插值方法,解決了多點(diǎn)插值的軌跡跟隨問(wèn)題;在外骨骼的啟動(dòng)定位中,提出了一種霍爾傳感器輔助定位的方法,解決了預(yù)定位啟動(dòng)控制失步問(wèn)題。搭建了電機(jī)驅(qū)動(dòng)的實(shí)際物理平臺(tái)和軟件平臺(tái)。在硬件上,對(duì)功率驅(qū)動(dòng)電路、電流采樣電路、多級(jí)串聯(lián)BUCK降壓電路、過(guò)流過(guò)壓檢測(cè)電路進(jìn)行了分析與設(shè)計(jì),設(shè)計(jì)了驅(qū)動(dòng)器斷電三相線短接電路,使得斷電以后的電機(jī)進(jìn)入高阻尼狀態(tài),提高了外骨骼使用的安全等級(jí)。在軟件上,對(duì)伺服驅(qū)動(dòng)系統(tǒng)的軟件框架進(jìn)行了解耦,實(shí)現(xiàn)了基于SVPWM的矢量控制程序達(dá)到了勵(lì)磁電流和力矩電流的解耦控制。在通信上,設(shè)計(jì)了基于CAN通信的對(duì)象字典通信協(xié)議,使得外骨骼與節(jié)點(diǎn)的通信更加靈活。在重量、體積、定位精度、響應(yīng)速度上與外購(gòu)驅(qū)動(dòng)器構(gòu)成的節(jié)點(diǎn)控制器進(jìn)行了測(cè)試比較,并在外骨骼的實(shí)際系統(tǒng)上進(jìn)行帶載測(cè)試,表明了本文設(shè)計(jì)的驅(qū)動(dòng)器方案完全可以替代外購(gòu)點(diǎn)擊驅(qū)動(dòng)。并且由于驅(qū)動(dòng)針對(duì)外骨骼自制,提高了外骨骼系統(tǒng)的可控性、降低了外骨骼的開(kāi)發(fā)成本,提升了外骨骼自主研發(fā)的能力。
[Abstract]:Medical exoskeleton robot is a kind of rehabilitation robot used to assist paraplegia patients to recover walking ability. Most of them use brushless servo motor as their power source. Due to the problems of low expandability, complex communication, expensive price and low controllability, a special servo drive system for exoskeleton is developed around the control mode required by the driver in exoskeleton control. The main research contents are as follows: the servo control scheme of exoskeleton brushless motor based on vector control method is realized. The basic principle of vector control is analyzed, the mathematical model of brushless motor is simplified, and the realization method of digital space voltage vector modulation is studied. Based on the position three-loop closed-loop control principle of servo drive, the simulation model of servo control is built in Simulink, which provides the theoretical basis for the research of key problems and the construction of practical physical platform. A solution to the key technology of motor drive in exoskeleton system is presented. In current control, the phase current fluctuation caused by the small winding inductance of the motor is solved by reducing the space vector modulation (SVPWM) period. In the velocity control, the velocity estimation method of PLL based on M method is introduced to improve the stability at low speed. In the position following, a simple PTP decision method is implemented for the point to point (PTP) trapezoidal position interpolation. The position interpolation of each point to point can be reprogrammed. The position, speed and time (PVT) interpolation method based on Hermite cubic multiple segments is implemented, and the trajectory following problem of multipoint interpolation is solved. In the starting location of exoskeleton, a Hall sensor assisted positioning method is proposed, which solves the out-of-step problem of preset start control. The actual physical platform and software platform of motor drive are built. In hardware, the power drive circuit, current sampling circuit, multistage series BUCK step-down circuit and overcurrent overvoltage detection circuit are analyzed and designed. After power failure, the motor into a high damping state, improve the use of exoskeleton safety level. In software, the software framework of servo drive system is decoupled, and the vector control program based on SVPWM achieves decoupling control of excitation current and torque current. In communication, the object dictionary communication protocol based on CAN communication is designed, which makes the communication between exoskeleton and node more flexible. The weight, volume, positioning accuracy and response speed are tested and compared with the node controller made up of external actuators, and the load test is carried out on the actual system of exoskeleton. It shows that the driver scheme designed in this paper can completely replace the external click drive. Because the drive is aimed at exoskeleton, it improves the controllability of exoskeleton system, reduces the cost of exoskeleton development, and improves the ability of exoskeleton self-development.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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