本篇以NKAEX-MINI为例,介绍控制系统程序设计的基本方法
程序整体框架
整体结构
![Snipaste_2021-11-11_22-29-52.png](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/Snipaste_2021-11-11_22-29-52.png)
传感器模组
![Snipaste_2021-11-11_22-30-16.png](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/Snipaste_2021-11-11_22-30-16.png)
控制器结构: 状态机 - 高层控制器 - 底层控制器 - 驱动器输出
![Snipaste_2021-11-11_22-31-18.png](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/Snipaste_2021-11-11_22-31-18.png)
传感器模块与电机输出
![Snipaste_2021-11-11_22-30-16.png](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/Snipaste_2021-11-11_22-30-16.png)
拉力传感器与惠斯通电桥
![image-20211124181203343](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/image-20211124181203343.png)
电机控制信号与电机控制软件
- 控制模式每次需要配置为模拟量,启动控制前需要监控输入的模拟量是否在安全范围内
![Snipaste_2021-11-12_14-01-29.png](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/Snipaste_2021-11-12_14-01-29.png)
- 配置操作模式,设置速度模式、模拟量控制,配置最大速度(仅需配置一次)
![image-20211124183228134](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/image-20211124183228134.png)
- 调节模拟量增益(仅一次),和偏置(每次上电均需校准);整定电机参数(每个月校准一次)
![image-20211124183335223](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/image-20211124183335223.png)
在每次实验之前,需要对模拟量信号的偏移进行调整
若需要进行参数整定,确保电机没有负载
肌电传感器的信号滤波
![Untitled](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/Untitled_9.png)
传感器连线
![image-20211124181607135](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/image-20211124181607135.png)
外骨骼传感信号转接板
![image-20211124181708169](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/image-20211124181708169.png)
电机编码器信号转接板
![Untitled](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/Untitled_12.png)
步态状态机
指定系统的工作状态,划分步态支撑相与摆动相,进行异常监测
- Mode → 系统工作状态
- State → 步态支撑/摆动相状态
![Untitled](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/Untitled_13.png)
High Level Controller
根据系统状态规划电机的工作模式,生成期望力矩曲线,并向输出Low Lever控制器发送期望速度、期望位置或期望力矩;
![Untitled](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/Untitled_14.png)
- 期望力矩曲线
![Untitled](/2021/06/17/4-Tutorials/dSPACE/dSPACE-07/dSPACE%E7%A8%8B%E5%BA%8F%E8%AE%BE%E8%AE%A1%20-%20%E9%AB%98%E7%BA%A7%E7%AF%87/Untitled_15.png)
- 期望关节角度