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Application of PMSM Sensorless Control System on Lower Limb Rehabilitation Robot
ID：265 View Protection：PUBLIC Updated Time：2020-10-24 22:02:02 Hits：761 Poster Presentation

Start Time：2020-11-04 15:00（Asia/Shanghai）

Duration：5min

Session：G Poster session » G3Poster Session 3

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Abstract
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.
Keywords
lower limb rehabilitation robot,,Permanent magnet synchronous motor(PMSM),sliding mode observer,sensorless control
Speaker
Li Qingjun
Shandong University

Submission Author
Qingjun Li Shandong University
Xiuhe Wang Shandong University
Lingling Sun Shandong University
Zhong Liu Shandong University
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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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