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1203 / 2020-09-29 17:52:02
Application of PMSM Sensorless Control System on Lower Limb Rehabilitation Robot
lower limb rehabilitation robot,,Permanent magnet synchronous motor(PMSM),sliding mode observer,sensorless control
Electric Machine Design and Control > Electric machine drives
Final Paper
Qingjun Li / Shandong University
Xiuhe Wang / Shandong University
Lingling Sun / Shandong University
Zhong Liu / Shandong University
Lower limb rehabilitation robot driven by a motor was a typical rehabilitation-assistive device for Parkinson’s Disease (PD) patients with abnormal muscle tone in their lower limbs. This paper investigated the sliding mode observer design of permanent magnet synchronous motor applied to a lower limb rehabilitation robot. Sensorless control technology was proposed to estimate the rotor position and velocity of PMSM with estimated back-EMF. Then two control algorithms have been developed for the robot: one that


implements an inertia load (active mode) and one that implements a speed reference (negative mode). In the active mode, the robot operates as a regular exercise bike with electromagnetic brake torque that captures and records the pedal force signals. In the negative mode, the robot operates at a user-selected speed (cadence) that is essential to achieve the desired motor performance. A simulation was conducted with results validating the effectiveness of the proposed control scheme in terms of stable cycle speed and observer performance.
Important Date

  • Conference Date

    Nov 02

    2020

    to

    Nov 04

    2020

  • Oct 27 2020

    Draft paper submission deadline

  • Nov 03 2020

    Contribution Submission Deadline

  • Nov 04 2020

    Registration deadline

  • Nov 17 2020

    Final Paper Deadline

Sponsored By
IEEE IAS Student Chapter of Huazhong University of Science and Technology (HUST)
Organized By
Huazhong University of Science and Technology
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