Research Of Outside Skeletonic Robot Auxiliary Leg Drive Control System

Intelligent artificial leg has been an interesting research project in the fields of robotics and biomedical engineering, its most excellent characteristics is that it can imitate the movement ways of human healthy legs and its walking speed can change naturally with the change of wear person's walking speed. The paper will research on the drive system of strengthen the human lower limbs ability by outside skeleton robot auxiliary leg.According to the outside skeleton robot auxiliary leg's characteristics and direct currents servo motor and domestic and international development condition and foreground of DSP, this paper do some works as follows:Firstly, At the foundation of the mechanical structure of the outside skeleton machine leg, produce and assemble the components and parts of drive part, then at the foundation of design the control network base on CAN bus and digital servo control system to research and explore the control project deeply. Design joint drive control system base on TMS320F2812, then introduce event manager and other model part in the motor control of application, then design and research the motor drive system.Then, the paper raise the fuzzy control idea base on CAN bus communicate system and DSP control system, then build up the fuzzy system model. In the design of the controller, because of the PID control is still a kind of control method apply most extensively, so that the paper discuss the normal PID control calculate way and parameters rectify, then, study exclusively in the fuzzy control, it can overcome the system parameter variety and not linear factor of etc. robust is strong. In the paper design a fuzzy controller toward to the fuzzy control, then to imitate the true and analyze the result with simulimk model in the Matlab, finally get a result that designed the misty controller to misty control, the simulink mold piece that change the parameter still can get the satisfied control result under the fuzzy PID control system.Finally, design the software of outside skeleton robot auxiliary leg, and elucidation the visible operate interface, then design the main procedure and break service procedure and motor PWM output control; Also introduce the fuzzy PID control calculate way achieve on the digital DSP.