Simulation of Constant Speed Motion Control of Permanent Magnet Synchronous Motor for Rehabilitation Training
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.
国家科技期刊平台
NSTL
万方数据
维普
