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Application of PMSM Sensorless Control System on Lower Limb Rehabilitation Robot
编号：265 访问权限：公开 更新：2020-10-24 22:02:02 浏览：234次 张贴报告

报告开始：2020年11月04日 15:00（Asia/Shanghai）

报告时间：5min

所在会场：[G] Poster session [G3] Poster Session 3

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摘要
Lower limb rehabilitation robot driven by a motor was a typical rehabilitation-assistive device for Parkinson’s Disease (PD) patients with abnormal muscle tone in their lower limbs. This paper investigated the sliding mode observer design of permanent magnet synchronous motor applied to a lower limb rehabilitation robot. Sensorless control technology was proposed to estimate the rotor position and velocity of PMSM with estimated back-EMF. Then two control algorithms have been developed for the robot: one that
implements an inertia load (active mode) and one that implements a speed reference (negative mode). In the active mode, the robot operates as a regular exercise bike with electromagnetic brake torque that captures and records the pedal force signals. In the negative mode, the robot operates at a user-selected speed (cadence) that is essential to achieve the desired motor performance. A simulation was conducted with results validating the effectiveness of the proposed control scheme in terms of stable cycle speed and observer performance.
关键词
lower limb rehabilitation robot,,Permanent magnet synchronous motor(PMSM),sliding mode observer,sensorless control
报告人
Li Qingjun
Shandong University

稿件作者
Qingjun Li Shandong University
Xiuhe Wang Shandong University
Lingling Sun Shandong University
Zhong Liu Shandong University
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重要日期

  • 会议日期

    11月02日

    2020

    至

    11月04日

    2020

  • 10月27日 2020

    初稿截稿日期

  • 11月03日 2020

    报告提交截止日期

  • 11月04日 2020

    注册截止日期

  • 11月17日 2020

    终稿截稿日期

主办单位
IEEE IAS Student Chapter of Huazhong University of Science and Technology (HUST)
承办单位
Huazhong University of Science and Technology
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