跨步机构等高步态直流电机调速控制的研究-电机与电器专业论文.docxVIP

优秀毕业论文 精品参考文献资料 河北科技大学硕士学位论文 II AbstractAbstract Abstract Abstract These years，our country has stepped into the senile society,and the proportion of the elderly population gradually increased，SO that how to solve the problem of the elderly travel has become a hot spot．In addition，with the development of transportation in our country,the number of people with disabilities caused by frequent traffic accidents increased year by year．Therefore，it is high time that a walking mechanism should be designed to satisfy the needs of the people with inconveniences． This article mainly aims at the research of the DC motor speed control for gait of equal height ofthe stride institutions．Firstly,combined with the research object，the single leg mathematical model of mechanism is established and the stride form of the gait of equal height，which can complete the designed gait of raising up the feet perpendicular to the ground，taking a step parallel to the ground at a certain height,and falling perpendicular to the ground during the process of walking，has been designed．And planning the ZMP trajectory of the institutions，analysising the feasibility and stability of the gait of equal height based on ZMP stability criterion． Secondly,the hardware and software of stride institutions has been designed and debugged by using STC 1 2C5A60S2 to control each function module，make each joints of model rotate and cooperate with each other,realize the function of gait of equal height， and according to the flow chart of the system，the software is compiled and debugged． At last the design of control algorithm has been completed，and the speed of the institutions is controlled by fuzzy PID．The fuzzy rules of the system are designed and edited by FIS editor．In the environment of Simulink simulation，the simulation model of the system is established，by comparing with the traditional PID，the feasibility of the designed fuzzy PID control is verified．And it realizes the physical control of the stride instit