轻工机械2024，Vol.42Issue(2)：56-60,5.DOI:10.3969/j.issn.1005-2895.2024.02.009
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
沈先成 1白国振 1马宇航 1陆鑫浩 1左寅虎1
作者信息
- 1. 上海理工大学 机械工程学院,上海 200093
- 折叠
摘要
Abstract
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Key words
permanent magnet synchronous motor/rehabilitation training/isokinetic motion/dynamic velocity programming/PID controller分类
信息技术与安全科学引用本文复制引用
沈先成,白国振,马宇航,陆鑫浩,左寅虎..用于康复训练的永磁同步电机等速运动控制仿真[J].轻工机械,2024,42(2):56-60,5.
