【作者】 李园梦；

【导师】 林文强；

【作者基本信息】 东北大学 ， 机械设计及理论， 2008， 硕士

【摘要】 智能人工腿是机器人学和生物医学工程学领域一个备受关注的研究课题,它最优秀的特点是能模仿人体健康腿的运动方式且步行速度可自然、随意地跟随佩戴者步行速度的变化而变化。本文将对增强人体下肢能力的外骨骼机器人辅助腿的驱动系统进行研究。针对外骨骼机器腿的特点和直流伺服电机以及DSP的国内外发展现状和前景,本论文做了以下几个方面的工作：首先,在设计了外骨骼机器腿的机械结构的基础上,对驱动部分各个零部件进行了加工和装配,并在设计了基于CAN总线的机器人现场总线控制系统和数字伺服控制系统的基础上,对控制方案进行了更深一步的研究和探索。设计了基于TMS320F2812的关节驱动控制系统,介绍了事件管理器等模块在电机控制中的应用,并对电机驱动系统进行了设计和研究。其次,本文在对CAN总线通信系统和DSP控制系统的研究基础上提出了模糊控制的思想,并进行了模糊系统的建模。在控制器的设计中,由于PID控制仍是目前应用最广泛的一种控制方式,因此本文首先讨论了常规PID控制算法及参数整定,然后,专门研究了模糊控制,它可以克服系统参数变化、非线性等不利因素,鲁棒性强。本文针对模糊控制设计了模糊控制器,并用Matlab的simulink模块进行了仿真和结果分析,最终得出模糊PID控制在系统参数改变的情况下仍有满意的控制效果。最后,对外骨骼机器人辅助腿驱动系统的软件进行了设计,对可视化操作界面进行了说明,设计了主程序、中断服务程序和电机的PWM输出控制；同时也介绍了模糊自适应PID控制算法在DSP上的数字化实现。更多还原

【Abstract】 Intelligent artificial leg has been an interesting research project in the fields of robotics and biomedical engineering, its most excellent characteristics is that it can imitate the movement ways of human healthy legs and its walking speed can change naturally with the change of wear person’s walking speed. The paper will research on the drive system of strengthen the human lower limbs ability by outside skeleton robot auxiliary leg.According to the outside skeleton robot auxiliary leg’s characteristics and direct currents servo motor and domestic and international development condition and foreground of DSP, this paper do some works as follows:Firstly, At the foundation of the mechanical structure of the outside skeleton machine leg, produce and assemble the components and parts of drive part, then at the foundation of design the control network base on CAN bus and digital servo control system to research and explore the control project deeply. Design joint drive control system base on TMS320F2812, then introduce event manager and other model part in the motor control of application, then design and research the motor drive system.Then, the paper raise the fuzzy control idea base on CAN bus communicate system and DSP control system, then build up the fuzzy system model. In the design of the controller, because of the PID control is still a kind of control method apply most extensively, so that the paper discuss the normal PID control calculate way and parameters rectify, then, study exclusively in the fuzzy control, it can overcome the system parameter variety and not linear factor of etc. robust is strong. In the paper design a fuzzy controller toward to the fuzzy control, then to imitate the true and analyze the result with simulimk model in the Matlab, finally get a result that designed the misty controller to misty control, the simulink mold piece that change the parameter still can get the satisfied control result under the fuzzy PID control system.Finally, design the software of outside skeleton robot auxiliary leg, and elucidation the visible operate interface, then design the main procedure and break service procedure and motor PWM output control; Also introduce the fuzzy PID control calculate way achieve on the digital DSP.更多还原