| Summary: | 碩士 === 逢甲大學 === 電機工程所 === 101 === The main purpose of this thesis is to design and implement an electric foot rehabilitation machine which is realized by an ARM microcontroller based permanent magnet synchronous motor (PMSM) drive. The function of electric foot rehabilitation machine is to help the patients who need the physical therapy for foot. Consequently, the patients can gain muscle strength after the rehabilitation.
The system hardware consists of an ARM microcontroller, an inverter with six switching MOSFETs, Hall-effect magnetic pole sensors, the current detection sensor, the voltage sensor and the communication interface. The system software is written in C language by using the keil MDK ARM integrated development environment (IDE). The proportion, integration and derivation (PID) control algorithm is employed to the motor drive for speed and torque control. In order to adjust the PID parameters precisely, the radial basis function neural network (RBFNN) algorithm is applied to the system for learning the behavior of the motor drive plant. The system performance for the system with and without the RBFNN is compared. The human interface is also designed and realized to obtain the friendly interaction for the user. Finally, a prototype of the foot rehabilitation machine is designed and implemented in this thesis. The experimental results show the feasibility and integrity of the complete designed system.
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