CN104207865B - 一种电机驱动小腿假肢的阻尼控制方法 - Google Patents

一种电机驱动小腿假肢的阻尼控制方法 Download PDF

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CN104207865B
CN104207865B CN201410479753.5A CN201410479753A CN104207865B CN 104207865 B CN104207865 B CN 104207865B CN 201410479753 A CN201410479753 A CN 201410479753A CN 104207865 B CN104207865 B CN 104207865B
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王启宁
袁克彬
朱金营
王龙
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Peking University
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Abstract

本发明涉及一种电机驱动小腿假肢的阻尼控制方法，其步骤为：将踝关节主传动机构上电机与驱动装置断开；电机在人体重心运动产生的外力作用下被动转动产生交流的感应电压，此时该电机工作在发电机状态；在电机输出端连接由二极管构成的全桥整流电路，将电机感应出的交流电压整流成直流电压；采用三极管或者MOS管将全桥整流电路输出端短接形成闭合回路，由全桥整流电路输出的直流电压产生直流电流；采用脉冲宽度调制信号控制三极管或者MOS管的导通/断开，产生可控的直流电流；该可控的直流电流在电机磁场中产生不同的电机阻尼，进而产生阻碍关节转动的阻转力矩，实现阻尼控制。本发明可以广泛在人体假肢控制领域中应用。

Description

一种电机驱动小腿假肢的阻尼控制方法
技术领域
本发明涉及一种假肢阻尼控制方法，特别是关于一种应用于电机驱动小腿假肢的阻尼控制方法。
背景技术
根据中国残疾人联合会2012年统计数据，中国目前截肢者的数量已经超过2000万。肢体的缺失给这些残疾人的生活和工作带来诸多不便，严重影响其生活质量的提高。小腿假肢帮助膝下截肢残疾人重新站立行走，对于提高残疾人的生活质量有着重要意义。市场上现有的商业化小腿假肢，根据踝关节角度是否可调可以分为两大类：静踝假肢和动踝假肢。静踝假肢，踝关节角度固定不变，无法有效地模仿正常关节的运动学特性，仅能起到支撑作用。动踝假肢，踝关节可以在一定角度范围内运动，因此可以在一定程度上模仿正常关节的运动学特性，但是其关节的运动阻抗通常由机械结构或者材料材质决定，无法根据不同的行走速度和地形调整。因此，残疾人穿戴这两类假肢行走时，截肢侧与健康侧的步态会有较大的不对称性；而且当残疾人在斜坡和台阶上行走时，其运动的稳定性也会大大降低。
因此，为了使小腿假肢适应不同的行走速度和地形，关节的阻抗应该能够实时调整。公开号为CN101785716B的专利中公布了一款液压式地形自适应仿生踝关节装置，通过控制截流针阀改变油液流通管路的开口大小，进而控制油液流通阻尼。公开号为CN101856283B的专利中公布了一款气压式阻尼可调踝足假肢，通过直线步进电机推动针阀改变节流面积，进而改变气缸阻尼。前述液压和气压式假肢都可以有效地控制踝关节阻尼，但是其结构复杂，需要在主传动结构基础上添加额外的阻尼控制装置；而且阻尼控制装置内的液体或气体在长期使用过程中存在泄露的危险。
发明内容
针对上述问题，本发明的目的是提供一种结构简单、稳定性高，并且不需要其他附件装置的电机驱动小腿假肢的阻尼控制方法。
为实现上述目的，本发明采取以下技术方案：一种电机驱动小腿假肢的阻尼控制方法，其包括以下步骤：(1)将踝关节主传动机构上的电机与驱动装置断开，不施加驱动电压，使该电机工作在发电机状态；(2)踝关节主传动机构上的电机在人体重心运动产生的外力作用下被动转动产生感应电压，该感应电压为交流电压；(3)在电机输出端连接由二极管构成的全桥整流电路，将电机感应出的交流电压整流成直流电压；(4)采用三极管或者MOS管将全桥整流电路输出端短接形成闭合回路，由全桥整流电路输出的直流电压产生直流电流；(5)采用脉冲宽度调制信号控制三极管或者MOS管的导通/断开，进而控制全桥整流电路短接断开的时间比例，产生可控的直流电流；该可控的直流电流在电机磁场中产生不同的电机阻尼，进而产生阻碍关节转动的阻转力矩，实现阻尼控制。
所述步骤3)中，在所述全桥整流电路的输出端优选连接所述MOS管。
所述全桥整流电路由六个二极管组成，所述全桥整流电路的输入端连接所述电机的三相接线端子，所述全桥整流电路的正向输出端连接所述MOS管的漏极，所述全桥整流电路的负向输出端连接所述MOS管的源极，由所述MOS管的栅极输入所述PWM脉冲宽度调制信号。
本发明由于采取以上技术方案，其具有以下优点：1、本发明由于采用全桥整流电路与MOS管或三极管相结合，经PWM信号控制产生可控的直流电流，该可控的直流电流流经踝关节主传动电机，产生电机阻尼，无需附加液压缸气压缸等装置，大大简化了主体结构。2、本发明产生的电机阻尼通过由二极管构成的全桥整流电路与三极管或MOS管等基本电子元器件实现调整，无需像现有技术中采用专门的电机来调整节流阀的位置，因此大大简化了控制结构。3、本发明由于产生电机阻尼的能量来源于人体运动过程中的动能和重力势能，无需额外消耗能量，可大大提高***的能量效率。本发明可以广泛在人体假肢控制领域中应用。
附图说明
图1是踝关节在行走过程中关节力矩示意图；其中，图1(a)是踝关节向跖屈方向运动时关节力矩示意图，图1(b)是踝关节向背屈方向运动时关节力矩示意图；
图2是本发明的整体流程示意图；
图3是本发明的全桥整流电路与MOS管连接示意图。
具体实施方式
人在行走过程中的一个步态周期可以分为不同的步态阶段，按照脚是否着地可以分为着地期和摆动期。按照踝关节是否做正功又可把着地期进一步分为被动弯曲阶段和主动跖屈阶段。本发明主要针对从脚后跟着地到踝关节达到最大背屈的被动弯曲阶段进行踝关节阻尼控制，该阶段踝关节被动弯曲，是地形适应的关键阶段(如图1所示)。下面结合附图和实施例对本发明进行详细的描述。
如图2所示，本发明提供一种电机驱动小腿假肢的阻尼控制方法，其包括以下步骤：
1)将踝关节主传动机构上的电机与驱动装置断开，不施加驱动电压，使该电机工作在发电机状态；
2)人体运动时身体重心移动产生压力使踝关节被动弯曲，踝关节主传动机构上的电机随关节一起被动转动，产生感应电压；由于电机的相位一直在变化，因此电机产生的感应电压为方向持续变化的交流电压；
3)在电机输出端连接由二极管构成的全桥整流电路，将电机感应出的交流电压整流成直流电压；
4)采用三极管或者MOS管将全桥整流电路输出端短接形成闭合回路，使全桥整流电路输出的直流电压产生直流电流；
5)采用脉冲宽度调制信号(PulseWidthModulation,PWM)控制三极管或者MOS管的导通/断开，进而控制全桥整流电路短接断开的时间比例，产生可控的直流电流；该可控的直流电流在电机磁场中产生不同的电机阻尼，进而产生阻碍电机和关节转动的阻转力矩，阻止身体重心过快地移动，实现阻尼控制。
上述步骤3)中，如图3所示，在全桥整流电路的输出端优选连接MOS管。其中，全桥整流电路由六个二极管D1～D6组成，全桥整流电路的输入端连接电机的三相接线端子A、B、C，全桥整流电路的正向输出端连接MOS管Q1的漏极，全桥整流电路的负向输出端连接MOS管Q1的源极，由MOS管Q1的栅极输入PWM信号。全桥整流电路经MOS管Q1短接后形成的回路中产生的可控电流，在电机磁场中产生阻转力矩。
综上所述，由于当从脚后跟着地到脚放平，踝关节向跖屈方向运动，踝关节角速度为此时踝关节力矩τa为背屈方向，使重心逐渐降低，缓冲触地时的碰撞(如图1(a)所示)；当从脚放平到踝关节运动到最大背屈，踝关节向背屈方向运动，踝关节角速度为此时踝关节力矩τa为跖屈方向，使身体重心逐渐前移(如图1(b)所示)。在这两个阶段中，由于人身体重心的移动导致踝关节被动弯曲，经本发明的阻尼控制后，踝关节产生阻转力矩可使重心平稳地从后向前移动。
上述各实施例仅用于说明本发明，各部件的连接和结构都是可以有所变化的，在本发明技术方案的基础上，凡根据本发明原理对个别部件的连接和结构进行的改进和等同变换，均不应排除在本发明的保护范围之外。

Claims (3)

1.一种电机驱动小腿假肢的阻尼控制方法，其包括以下步骤：
(1)将踝关节主传动机构上的电机与驱动装置断开，不施加驱动电压，使该电机工作在发电机状态；
(2)踝关节主传动机构上的电机在人体重心运动产生的外力作用下被动转动产生感应电压，该感应电压为交流电压；
(3)在电机输出端连接由二极管构成的全桥整流电路，将电机感应出的交流电压整流成直流电压；
(4)采用三极管或者MOS管将全桥整流电路输出端短接形成闭合回路，由全桥整流电路输出的直流电压产生直流电流；
(5)采用脉冲宽度调制信号控制三极管或者MOS管的导通/断开，进而控制全桥整流电路短接断开的时间比例，产生可控的直流电流；该可控的直流电流在电机磁场中产生不同的电机阻尼，进而产生阻碍关节转动的阻转力矩，实现阻尼控制。
2.如权利要求1所述的一种电机驱动小腿假肢的阻尼控制方法，其特征在于：所述步骤(3)中，在所述全桥整流电路的输出端优选连接所述MOS管。
3.如权利要求2所述的一种电机驱动小腿假肢的阻尼控制方法，其特征在于：所述全桥整流电路由六个二极管组成，所述全桥整流电路的输入端连接所述电机的三相接线端子，所述全桥整流电路的正向输出端连接所述MOS管的漏极，所述全桥整流电路的负向输出端连接所述MOS管的源极，由所述MOS管的栅极输入所述脉冲宽度调制信号。
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