智能下肢假肢膝踝协调控制方法研究设都计说明.doc

PAGE 河北工业大学2014届本科毕业设计说明书 毕业设计说明书 系(专业)： 自动化专业 题 目： 智能下肢假肢膝踝协调控制方法研究 毕业设计（论文）中文摘要 智能下肢假肢膝踝协调控制方法研究 摘要： 近年来智能假肢的发展如火如荼，但是真正能够实现膝踝协调控制的智能假肢可以说是少之又少。本课题研究的膝踝协调控制系统利用三个霍尔元件识别步态，再通过专家控制的方法对系统进行控制，改善了系统的控制效果。本课题首先对该项技术的国内外发展现状进行了研究。之后，完成了控制系统的硬件电路设计与分析。在此基础上，设计方案测定了膝、踝协调针阀开度曲线，并形成了专家控制知识库。最后，运用专家控制的控制策略设计了系统软件部分，改善了膝踝协调控制系统的控制效果。 关键词： 膝踝协调 针阀开度曲线 MFC 专家控制 河北工业大学2014届本科毕业设计说明书 毕业设计（论文）外文摘要 Title The Research of Coordinated Control of Knee And Ankle for Intelligent Prosthesis Abstract Although intelligent prosthesis growing vigorously in recent years, the products which can achieve coordinated control of knee and ankle are numbered. In this research, three hall elements are used to identify the gait for the coordinated control system of knee and ankle. Expert control method is used for this system which improves the control effect. First of all, the domestic and foreign development present situation is studied. Then, the design and analysis of hardware circuit has been completed .On this basis, the curve of needle’s value is tested and knowledge base of expert control is formed. Finally，the software is designed based on the control strategy of expert control which improved the control effect of this system. Keywords： knee and ankle coordination needle valve curve MFC expert control 目 录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc357785017 1 引言 1 HYPERLINK \l _Toc357785018 1．1 选题的目的和意义 1 HYPERLINK \l _Toc357785019 1．2 智能假肢国内外发展现状 1 HYPERLINK \l _Toc357785020 1．3 课题研究内容 2 HYPERLINK \l _Toc357785021 2 膝踝协调控制器的硬件设计 3 HYPERLINK \l _Toc357785022 2．1 控制芯片MSP430简介 3 HYPERLINK \l _Toc357785023 2．2 硬件电路分析与设计 4 HYPERLINK \l _Toc357785024 2．3 小结 8 HYPERLINK \l _Toc357785026 3 膝、踝关节针阀开度曲线的测定 8 HYPERLINK \l _Toc357785027 3．1 测试方案设计 8 HYPERLINK \l _Toc357785028 3．2 MFC测试程序设计 9 HYPERLINK \l _Toc357785028 3．3 小结 12 H