Development And Research Of Controller For Motor Loaded Fitness And Rehabilitation Equipment

The development and popularization of motor loaded fitness and rehabilitation equipment is the inevitable direction to conform to the trend of the times,cater to people’s psychology,meet quality requirements and conform to objective laws.Due to the late start in this field in China,compared with developed countries,there may be some problems such as imperfect research and immature technology,especially the research and development of core components of equipment.In order to break this situation,avoid foreign market monopoly and reduce the introduction of high-cost products,it is urgent to vigorously support and develop domestic research in related fields,and strive to design low-cost,popular and domestic products on the premise of ensuring safety and reliability.For motor loaded fitness and rehabilitation equipment,the loader is an AC servo motor,and its function depends entirely on the controller.Therefore,the development of a controller with low cost,stable performance,accurate control and powerful functions is the major factor and prerequisite to promote the progress in this field.In this paper,the controller is developed and researched according to the control requirements of this kind of equipment.The specific work can be divided into three parts.The first part is related to fitness and rehabilitation training,which mainly designs four training modes of isotonic,isometric,isokinetic and passive,and four control strategies of torque calibration,acceleration and deceleration control,no torque feedback processing and exercise prescription formulation.The second part is the hardware of the controller.The main control chip is STM32F407IGT6,and the basic circuit consists of power circuit,clock circuit,reset circuit,debugging circuit and storage circuit.The periphery mainly includes digital,analog,serial communication and Ethernet interface circuits.The third part is the software of the controller,which is programmed with HAL library development mode and three-tier framework structure.The hardware abstract layer configures the underlying basic codes such as clock,input and output,the functional module layer realizes specific functions such as motor control,signal acquisition and processing and data communication,and the human-computer interaction layer designs the interactive interface of the touch screen and the upper computer.After the controller is developed and manufactured,two experimental platforms are set up for experiment and analysis.The torque accuracy measurement experiment shows that the torque calibration strategy and the torque processing strategy without feedback have certain practical value.Experiments in isotonic and isometric modes show that the design of these two control algorithms accords with the characteristics of the modes and can realize the corresponding training.The experimental results of speed fluctuation,acceleration and deceleration,and muscle strength training test in isokinetic mode prove that the designed isokinetic control algorithm meets the use conditions,and the acceleration and deceleration control strategy and exercise prescription formulation strategy are reasonable and effective.Because the controller runs well,controls stably and meets the use requirements in the working process,the use of this low-cost product can not only help the development of motor loaded fitness rehabilitation equipment,but also promote the popularization of the equipment,thus laying the foundation for the realization of national fitness and healthy China.At the same time,the theory and method in the research process are reasonable,which has certain reference value for the development of controllers needed in this field or other fields.