轮椅式下肢训练系统测试平台控制系统设计

Design of Control System for Wheelchair Lower Limb Training System Test Platform

为解决目前轮椅式下肢训练设备未有针对下肢训练功能的测试设备这一缺失,设计了一种轮椅式下肢训练设备测试平台的控制系统。系统以STM32F429IGT单片机作为主控芯片,配合电源模块、通讯模块、传感器信号变送模块、抱闸模块和步进电机驱动模块,构成测试平台的硬件系统,可实现传感器所采集数据的处理和传输、关节制动力加载以及电机驱动的倾斜运动控制。在步进电机控制方面,在PWM波基础上使用SPWM波进行驱动控制,可使机构运动更为平稳。运动仿真实验表明,质心投影点位移变化平稳,控制系统可行。

In order to solve the problem that there is no testing equipment for lower extremity training function in wheelchair-type lower extremity training equipment,a control system of testing platform for lower extremity training equipment was designed.The system adopted STM32F429IGT single-chip microcomputer as the master control chip,combined with the power supply module,communication module,sensor signal transmitting module,stepper motor driver module and the brake module,a test platform of hardware system,which can realize sensor collected data processing and transmission of power load and motor drive,restraint of tilt motion control.In terms of stepping motor control,SPWM wave was used on the basis of PWM wave to drive control,which can make the movement of the mechanism more stable.The motion simulation results show that the displacement of the centroid projection point changes steadily,which proves the feasibility of the control system.