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DSP-based control system for intelligent prosthetic knee joint research and development

Author: ShiZengGuang
Tutor: YangPeng
School: Hebei University of Technology
Course: Control Theory and Control Engineering
Keywords: Active Knee DSP Intelligent Controller Fuzzy PID Control CCSLINK
CLC: TP273.5
Type: Master's thesis
Year: 2007
Downloads: 476
Quote: 1
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Abstract


With the development of technology, intelligent prosthetics prosthetics industry has become the focus of research . Its main feature is able to automatically adjust according to changes in the external environment stride , pace, and other parameters. However, it can freely and proactively with the cadence, the knee angle changes. The topics to uniaxial electric knee for the study, presented the idea of ??active prostheses , and TMS320F2812 processor core design of intelligent prosthetic knee joint controller , the DC servo drive system as the knee , the application of fuzzy PID methods control. Able to provide assistance , including the knee extensor torque and torque damping torque of two parts , according to the human consciousness and the physical environment to adjust the parameters of prosthetic systems , flexible and reliable complete the action. Single Axis Knee controller only intelligent controller AKP basic research , with a multi-link flexible bionic knee kinematic real-time control will be the future focus of the study knee prosthesis . Active leg prosthetic knee motion passed by a DC servo motor rear drive gear , the motor turned the angle and the angle of knee movement is one to one , the knee angle of movement that is to be expected to control the motor turn angle value and orientation. DSP based prosthetic knee expectation , the calculated amount of control and issue control the rotational speed of a DC servo motor directly change the angle of knee flexion . This research and innovations include: 1 . Using a digital controller to control DC servo motor to drive the initiative prostheses. 2 Complete the hardware structure of the joint controller PCB board drawing software debugging and programming algorithm . 3 Establish matlab-based intelligent prosthetic controllers with dsp mixed development and debugging platform .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system > Computer control, computer control system
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