基于DSP的智能假肢膝关节控制系统的研究与开发

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1、⊇࣫ᎹϮ໻ᄺ⸩຿ᄺԡ䆎᭛෎ѢDSPⱘᱎ㛑؛㙶㝱݇㡖᥻ࠊ㋏㒳ⱘⷨおϢᓔথᨬᨬᨬᨬ㽕㽕㽕㽕䱣ⴔ⾥ᡔⱘথሩˈᱎ㛑؛㙶䗤⏤៤Ў؛㙶Ϯⷨおⱘ䞡⚍DŽ݊Џ㽕⡍⚍ᰃ㛑ḍ᥂໪⬠⦃๗ব࣪㞾ࡼ䇗ᭈℹᐙǃℹ䗳ㄝখ᭄DŽԚᰃˈᅗϡ㛑䱣ᛣഄǃЏࡼഄ䱣ⴔℹ乥ǃ㝱݇㡖㾦ᑺⱘব࣪㗠ব࣪DŽᴀ䇒乬ҹऩ䕈⬉ࡼ㝱݇㡖Ўⷨおᇍ䈵ˈᦤߎњЏࡼᓣ؛㙶ⱘ䆒ᛇˈᑊҹTMS320F2812໘⧚఼ЎḌᖗ䆒䅵њᱎ㛑؛㙶㝱݇㡖᥻ࠊ఼ˈᇚⳈ⌕Ԏ᳡㋏㒳԰Ў㝱݇㡖ⱘ偅ࡼ఼ˈᑨ⫼њ῵㊞PIDᮍ⊩䖯㸠᥻ࠊDŽ㝱݇㡖㛑໳ᦤկ࡯ⶽࣙᣀࡽԌ࡯ⶽ੠䰏ሐ࡯ⶽϸϾ䚼ߚˈḍ᥂Ҏⱘᛣ䆚੠ᅲ䰙⦃๗䇗ᭈ؛㙶㋏㒳ⱘখ᭄ˈ♉⌏ৃ䴴ഄᅠ៤

2、ࡼ԰DŽऩ䕈㝱݇㡖᥻ࠊ఼াᰃᱎ㛑㝱Ϟ؛㙶᥻ࠊ఼ⱘ෎⸔ᗻⷨおˈ݋᳝ӓ⫳⡍ᗻⱘᶨᗻ໮䖲ᴚ㝱݇㡖ᴎᵘ䖤ࡼᅲᯊ᥻ࠊᇚᰃҹৢ㝱Ϟ؛㙶ⷨおⱘ䞡⚍DŽЏࡼൟϟ㙶؛㙶ⱘ㝱݇㡖䖤ࡼ⬅Ⳉ⌕Ԏ᳡⬉ᴎ䗮䖛啓䕂ޣ䗳ৢ偅ࡼˈ⬉ᴎ䕀䖛ⱘ㾦ᑺ੠㝱݇㡖䖤ࡼⱘ㾦ᑺᰃϔϔᇍᑨⱘˈ㝱݇㡖䖤ࡼ㾦ᑺᳳᳯؐгህᰃ᠔㽕᥻ࠊ⬉ᴎ䕀䖛ⱘ㾦ᑺؐঞᮍ৥DŽDSPḍ᥂؛㙶㝱݇㡖ᳳᳯؐˈ䅵ㅫᕫߎ᥻ࠊ䞣ᑊথߎ᥻ࠊⳈ⌕Ԏ᳡⬉ᴎⱘ䕀ࡼ䗳ᑺⳈ᥹ᬍব㝱݇㡖ᔃ᳆ⱘ㾦ᑺDŽᴀ᭛ⷨおݙᆍ੠߯ᮄ⚍Џ㽕ࣙᣀ˖1.Փ⫼᭄ᄫ᥻ࠊ఼᥻ࠊⳈ⌕Ԏ᳡⬉ᴎᴹЏࡼⱘ偅ࡼ؛㙶DŽ2.ᅠ៤њ݇㡖᥻ࠊ఼ⱘ⹀ӊ㒧ᵘPCBᵓⱘ㒬ࠊ䇗䆩੠䕃ӊㅫ⊩㓪⿟DŽ3.

3、ᓎゟ෎ѢmatlabϢdspⱘᱎ㛑؛㙶᥻ࠊ఼⏋ড়ᓔথ䇗䆩ᑇৄDŽ݇䬂䆡݇䬂䆡˖݇䬂䆡˖˖˖Џࡼൟ㝱݇㡖ˈDSPˈᱎ㛑᥻ࠊ఼ˈ῵㊞PID᥻ࠊˈCCSLINKi෎ѢDSPⱘᱎ㛑؛㙶㝱݇㡖᥻ࠊ㋏㒳ⱘⷨおϢᓔথEXPLOREANDRESEARCHOFINTELLIGENTPROSTHESISKNEEJOINTCONTROLSYSTEMBASEDONTMS320F2812DSPABSTRACTWiththedevelopmentoftechnology,theintelligentprosthesishasbecamethereaserchemphas

4、esofprosthesis.Itsmainfeatureisthatitcantunetheparametersautomaticallyaccordingtothecircumstance.Butitcannotchangeaccordingtothefrequencyofstepandangleoftheknee.Thisstudytreatthesingleaxisdrivekneejointasresearchobject,putingforwardanideaofactiveprostheses.Finallythearticl

5、edesignedacontrollerofintelligentartificialkneejointusingTMS320F2812DSPastheprocessor,utilizingPIDfuzzycontrolmethodandachievedthegoalthattheprosthesescouldsimulatehealthylimbmovement.Activekneejointcanprovidetowkindsoftorque:extendtorqueanddamptorque.Singleaxisdrivekneejo

6、intofintelligentprosthesisresearchisthebasicresearchofintelligentprosthesiskneejoint.Multiaxiseskneejointwillbetheemphasesofresearchofintelligentprosthesisinthefuture.Activelower-limbprosthesiskneejointisdrivenbyaDCServomotorwithgearhead.TheDCmotorrotatespeeddirectlychange

7、sthekneejointflexionspeed.TheanglewhicntheDCmotorrunpastediscorrespondingwiththeanglewhichthekneejoint.Theanglewhichexpectatedthekneejointtorunacrossistheanglewhichneededtocontrolthemotortorunacross.DSPmicroprocessorcalculateandcreateDSPcodetocontroltheDCmotorspeedandchang

8、etheangleofthekneejoint.Themaincontentandinnovationsareshownasfollows:1.ControltheDCmotor