本論文主要是在藉由計算出跑步機中AC 伺服馬達實功來得知 跑者在跑步機上之跑步步態趨勢。以數位訊號處理器(DSP)為計算核 心，在取得伺服馬達之三相電流、三相電壓之後，輔以扭力計當做 對照並且實作量測系統與個人電腦，來架設出跑者步態之量測平台。 在本量測系統的軟、硬體與韌體的規劃之下，針對AC 伺服馬達 所量測到的三相電流、電壓、扭力與轉速，並將其類比訊號數位化 之後儲存於DSP 記憶體內，儲存後的數據經過DSP 運算與數位濾波 後，可得三相電功率，並進行系統鑑別出實功、虛功。此外由扭力 計量測得知的扭力、伺服馬達編碼器所量測得之轉速，可以得知機 械功率。最後藉由實功與扭力來做交互關係之比較，使用統計訊號 處理方法，得知系統實功與伺服馬達輸出之扭力有著直接的關聯性。 在得知系統實功與扭力有直接關聯性之後，我們便可以以跑步 機實功趨勢來代替扭力趨勢，如此一來便達成無須扭力計也可量測 跑者之步態趨勢。 The main purpose of this thesis is to calculate real power on AC servo motor of treadmill. The real power can express human gait on treadmill to PC base. The main core of measurable system is DSP MCU, and measure three phase current、voltage of AC servo motor. After measurement ,we use external torque sensor to be opposite with real power. Using torque sensor measurable system and PC, we can establish measurable platform for human gait. Under mapping out mechanical hardware, electrical hardware and firmware, the system measures voltages、 currents、torque and rotate speed from AC servo motor and save them as digital data to memory in DSP MCU. After measurement, the data was calculated through FIR filter, we can obtain three power. Through System identification, we can decouple real power and react power. Besides, we can obtain torque from external torque sensor、rotate speed from encoder.By the two parameters can obtain mechanical power. Finally, using statistical signal process method we compare torque and real power. After that, we realize torque and real power have directly correlation. When we realized data have directly correlation, we can replace real power with torque to express human gait. Thus we IV can measure human running gait use real power.
