摘要
为避免等速肌力测试系统需额外动态转矩传感器的问题,研究了一种基于带转矩监视信号的通用伺服装置的实现方法。在伺服电机速度模式下,利用编码器反馈设计了具有速度闭环的控制器,实现肌力测试过程中的精确等速运动;通过伺服自带的转矩监视信号检测施加到电机转子上的转矩,并转换得到肌力信息。利用Simulink软件和Quanser Q8运动控制器构建了等速肌力测试半实物仿真系统。为验证该方法的可行性,选取5名在校男大学生,分别测量肘关节肌肉群多运动参数,并与现有运动参数进行比较。结果表明,峰力矩(PT)等指标均在所测指标的波动范围内,说明该系统实现方法在等速肌力测试方面具有实用价值。
To avoid extra torque sensor in isokinetic muscle testing system,a method was developed based on normal servo equipment with torque monitoring signal.Under velocity mode of servo equipment,encoder feedback signal was applied to design velocity close-loop controller,and isokinetic was implemented with high accuracy;muscle force was acquired through the transformation of torque monitoring signal attached in servo equipment.By using hardware-in-loop simulation,a whole isokinetic muscle testing system was constructed by introducing the software Simulink and the motion controller Quanser Q8.To verify the feasibility of this method,selected five college boys participated in the isokinetic muscle testing.The kinematic muscle parameters of their elbow joint motion were measured.Through comparing with public results,it showed that the peak torque(PT)and other indicators lie in the ranges of published indicators,which verify the practical value of the constructing method of given isokinetic muscle test system.
作者
肖金壮
赵帅
王洪瑞
杨信才
Xiao Jinzhuang;Zhao Shuai;Wang Hongrui;Yang Xincai(College of Electronic&Information Engineering Hebei University Baoding,071000,China;Healthy Rehabilitation Section Affiliated Hospital of Hebei University Baoding,071000,China)
出处
《电工技术学报》
EI
CSCD
北大核心
2018年第A01期99-104,共6页
Transactions of China Electrotechnical Society
基金
河北省自然科学基金(H2016201201)
河北大学研究生创新项目(X201713)资助
关键词
转矩监视
伺服电机
速度闭环
等速肌力测试
半实物仿真
Torque signal
servo motor
velocity close-loop
isokinetic muscle test
hardware-inloop simulation
