助力行走机器人伺服系统研究与设计

分类号密级UDC学位论文助力行走机器人伺服系统研究与设计作者姓名：宫乐兴指导教师：林文强副教授东北大学现代设计与分析研究所申请学位级别：硕士学科类别：工学学科专业名称：机械设计及理论论文提交日期：2007年月日论文答辩日期：2007年月日学位授予日期：答辩委员会主席：评阅人：东北大学2007年2月ADissertationinMechanicalDesignandTheoryResearchandDesignofAssistiveWalkingRobotServoSystembyGongLexingSupervisor:AssociateProfessorLinWenqiangNortheasternUniversityFebruary2007-i-独创性声明本人声明，所呈交的学位论文是在导师的指导下完成的。论文中取得的研究成果除加以标注和致谢的地方外，不包含其他人己经发表或撰写过的研究成果，也不包括本人为获得其他学位而使用过的材料。与我一同工作的同志对本研究所做的任何贡献均已在论文中作了明确的说明并表示谢意。学位论文作者签名：日期：学位论文版权使用授权书本学位论文作者和指导教师完全了解东北大学有关保留、使用学位论文的规定：即学校有权保留并向国家有关部门或机构送交论文的复印件和磁盘，允许论文被查阅和借阅。本人同意东北大学可以将学位论文的全部或部分内容编入有关数据库进行检索、交流。(如作者和导师不同意网上交流，请在下方签名；否则视为同意。)学位论文作者签名：导师签名：签字日期：签字日期：东北大学硕士学位论文摘要-ii-助力行走机器人伺服系统研究与设计摘要随着机器人技术的飞速发展，各种各样的机器人被研制出来，广泛的应用于生产和生活中，助力机器人作为其中的一个发展方向，越来越引起人们的广泛关注。本文将对增强人体下肢能力的助力行走机器人的伺服驱动系统进行研究和设计。针对助力行走机器人的特点，设计了由直流电机和谐波减速器组合提供辅助力矩的方案，根据控制要求，采用基于高性能数字信号处理器(DSP)设计的全数字伺服控制系统进行电机控制，采用基于CAN总线的现场总线控制系统进行整个系统的协调控制。首先，本文设计了助力行走机器人的机械结构，并在研究其控制系统的基础上，研究和设计了基于CAN总线的机器人现场总线控制系统。然后，对全数字伺服控制系统和TMS320F2812进行论述，设计了基于该芯片的关节伺服控制系统，介绍了事件管理器和CAN总线模块在此电机控制和通信中的应用，并对功率驱动模块中所采用的桥式逆变器、电流采样部分进行了介绍。在电机伺服控制系统中，设计了一个具有位置和速度反馈的双闭环控制系统，其中采用了带有抗积分饱和校正的PID控制器；并利用Matlab中的Simulink仿真工具对整个非线性控制系统进行了仿真，整定了PID控制参数。随后，本文对助力行走机器人伺服驱动系统的软件进行设计，提出了控制程序的设计要求，设计了主程序、主中断服务程序和重要的功能子程序；同时也介绍了PID控制算法在DSP上的数字化实现。昀后，在控制系统平台上进行试验并给出了波形图，结果表明，本文研究的伺服驱动系统能够实现速度和位置控制，基本上达到了预期要求。关键词：数字信号处理器(DSP)；CAN总线；伺服系统；PID控制；Matlab仿真东北大学硕士学位论文Abstract-iii-ResearchandDesignofAssistiveWalkingRobotServoSystemAbstractAlongwiththefastdevelopmentoftherobottechnology,variousrobotshavebeenmade;theyarewidelyusedinmanufactureandpeople’slives.Assistiverobotisonedevelopmenttrendofthem,andwidelyarousespeople’sattentionmoreandmore.Theservosystemofassistivewalkingrobotwhichenhanceslowerlimbsfunctionisdiscussedinthispaper.Accordingtocharacteristicofassistivewalkingrobot,thispaperdesignedascheme:permanent-magnetDCmotorswithharmonicdriveprovideassistivedrivemoment,usingfulldigitalservosystembasedonhighperformanceprocessor---digitalsignalprocessor(DSP)tocontrolmotor,andusingfieldbuscontrolsystembasedonCAN(ControllerAreaNetwork)bustoconnectandcontrolthewholesystem.Firstly,thepaperdesignstheMechanicalstructureofassistivewalkingrobot,andthenstudiesanddesignsthecontrolnetworkbasedonCANbus.Secondly,thepaperstudiesthetheoryoftheDSP,anddesignstheservosystembasedonTMS320F2812,thenintroduceseventmanagerandCANmoduleinmotorcontrolandcommunicate.Thepaperintroducesthebridgetypeinverterandsamplingofelectriccurrentusedindrivesystem,too.Inmotorcontrolsystem,theauthordesignsacontrolsystemwithpositionandspeedfeedbackbyusingPIDcontrollerwithanti-windup,andusestheSimulinkinMatlabtosimulatethewholenonlinearitycontrolsystemandconfirmstheparameterinPIDcontroller.Thenthesoftwaredesignaboutservosystemispresented.Thepaperintroducesthemaincontrolprogramandthemaininterruptserviceroutine.More,itintroducessomeimportantfunctionsubprogramsandtherealizationofPIDcontrolarithmeticinDSP.Finally,somewaveformsweregivenaccordingtotheexperimentsdonewiththewholesystemplatform.Theresultsindicatethattheservosystemcanrealizebothvelocityandpositioncontrol,andreachtheanticipateddemand.Keywords:digitalsignalprocessor(DSP);CANbus;servosystem;PIDcontroller;simulation东北大学硕士学位论文目录-iv-目录独创性声明························································································································i摘要··································································································································iiAbstract·······························································································································iii第1章绪论···················································································································11.1课题研究背景·················································································································11.2国内外研究现状·············································································································11.2.1外骨骼机器人·······································································································21.2.2步行机器人···········································································································51.2.3步行机器人特点和发展趋势···············································································61.3课题研究意义·················································································································71.4伺服驱动系统方案·········································································································81.5本论文的主要内容·········································································································9第2章助力行走机器人设计···············································································102.1机械结构设计···············································································································102.1.1关节自由度配置·································································································102.1.2驱动关节设计···················