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1203 / 2020-09-29 17:52:02
Application of PMSM Sensorless Control System on Lower Limb Rehabilitation Robot
lower limb rehabilitation robot,,Permanent magnet synchronous motor(PMSM),sliding mode observer,sensorless control
Electric Machine Design and Control > Electric machine drives
终稿
Qingjun Li / Shandong University
Xiuhe Wang / Shandong University
Lingling Sun / Shandong University
Zhong Liu / Shandong University
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.
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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