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:2009-07-03:2005:(1987),,,,;(1967),,,,,,,(,710072):,,;,,,,MatlabSimulink,,:;;;;:TP241:A:1000-8829(2009)12-0031-05ModelingandDesignofControlSystemforUpperLimbExoskeletonRobotHEChen,ZHANGXiao2dong,YANGYu2tao(SchoolofPowerandEnergy,NorthwesternPolytechnicalUniversity,Xian710072,China)Abstract:Moreandmoreimportancehasbeenattackedtoexoskeletonrobotswithmilitary,aswellasthedailylivesofpeople.First,theexoskeletonrobotisintroducedbriefly,themathematicalmodelofcontrolsystemfortheupperlimbexoskeletonrobotandthedouble2closed2loopoftheforceandpositioncontrolsystemaredis2cussed.Thenallaspectsoftheselectiondesignforthecontrolsystemarediscussed,andthevariouscompo2nentsofthesystemaregiven.Atlast,throughMatlabsSimulinksoftware,themathematicalmodelofthecon2trolsystemfortheupperlimbexoskeletonrobotcarriesoutthesimulation,analysisofbrushlessDCmotoroftheresponsecharacteristics.Theresultsshowthattheuseofforceandpositioncontrolsystemenablesfastandsta2bleresponsesignalgenerated.Keywords:exoskeletonrobot;control;mathematicalmodel;force;position,,,,,[1],,,12000(EHPA),,,HAL,,,,,,,13,,,,23:1,,,DSP,DSP,BP,()DSP(),3,(),13,,DSP,,,,[2]3.1,,NX,,,,DSP,SKSE19A,,202(n-1)(),n,DSP3.2DSP,3TITMS320LF2407A[4],144,3(),,,,DSPPWM,PWM,2DSP2DSP3.3,ZWSP()=1.026L[r/min]TL[kgm](1),3,,,3,3D111+D122+D12222+D11212+D1=n11(2)D211+D222+D21112+D112+D2=n22(3)23200928123,D11=(m1+m2)l12+m2l22+2m2l1l2cos2;D12=m2l22+m2l1l2cos2;D122=-m2l1l2cos2;D112=-2m2l1l2sin2;D21=m2l22+m2l1l2cos2;D1=(m1+m2)gl1sin1+m2gl2sin(1+2);D22=m2l22;D211=m2l1l2sin2;D2=m2gl2sin(1+2);n11n22;l1;l2;m1;m2;1;2l1,l2,m1,m2,l1=333mm,l2=253mm,m1=1kg,m2=9kg,,,,500W110ZWS01250044.1,4U(s)=I(s)Ra+LsI(s)+Ea(s)(4)Ea(s)=Ke(s)(5)Tm(s)=KtI(s)(6)Tm(s)-TL(s)-D(s)=Js(s)(7),(4),U;I;Ra;Ea;LU(5),Ke(6),Kt(7),,Tm;TL;D;J(4)(5)(6)(7)I(s)=U(s)-Ea(s)Ls+Ra(s)=KtU(s)(Js+D)(Ls+Ra)-KtKe(s)(Js+D)(Ls+Ra)-TLJs+DU(s)(s),[5],444.2,Tm(s)-TL(s)=Tr(s)(8)F(s)=KrTr(s)(9)4.3,,PID,sU(s)=Kds2(s)+Kps(s)+Ki(10)5MatlabSimulink,5.1,,,,,(4)(5),(6)(7)(8),(9),5[6]5,DSPF(s),(s),F,Kf,6[7]L,Ra,J,D,K,Kt,Kr,Ke6(a),6(b),KKr,5,335G(s)=1ms2+Bs+K=1ms2+Bms+Km,m=(LJ)/Kt,B=(LD+JRa)/Kt,K=(RaD)/Kt=B2mK(11)n=Km(12),1,,,;,(11)(12),Km,,,LDJ,RaKt5.2,,7PID,U(s),8,5.3,,9743200928128DSP,KPIDKp,Ki,KdPID3,1010(a),,10(b),10,,PID96MatlabSimulink,,,,,DSP3,,,,,:[1]./[D].:,2007.[2],.[M].:,2007209.[3].[J].(),2008,25(2).[4],.DSPTIDSP[M].:,2004209.[5],.DSP[J].,2008,37(3).[6],.[J].,2008,7(1).[7]FodaKMS,WahdanMH,etal.Controllingarobotarmu2singexoskeletonforland2minesdisposal[A].ProceedingsofInternationalConferenceonComputerEngineering&Systems[C].2007211:21-24.53