博碩士論文 953207001 詳細資訊




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姓名 張智偉(Chih-Wei Chang)  查詢紙本館藏   畢業系所 光機電工程研究所
論文名稱 無扭力計跑步機跑者步態量測
(Torque-Meter Less Treadmill Measurement of Runner's Gait Event)
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摘要(中) 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。
摘要(英) 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.
關鍵字(中) ★ 步態分析
★ DSP
★ 永磁同步馬達
★ AC 伺服馬達
關鍵字(英) ★ AC servo motor
★ Gait events
★ DSP
論文目次 第一章 序論......................................................................................1
1.1 前言..................................................................................................... 1
1.2 步態量測的歷史背景......................................................................... 2
1.3 步態量測之文獻探討......................................................................... 3
1.4 研究動機............................................................................................. 4
1.5 論文貢獻............................................................................................. 5
1.6 論文架構............................................................................................. 5
第二章 步態量測數學理論..............................................................6
2.1 永磁同步馬達運動原理..................................................................... 6
2.2 馬達動態參數..................................................................................... 7
2.3 三相電路中的功率關係................................................................... 13
2.4 FIR 數位濾波器................................................................................ 15
第三章 量測平台............................................................................16
3.1 量測平台........................................................................................... 16
3.1.1 量測平台概觀........................................................................... 16
3.2 量測系統........................................................................................... 18
3.2.1 量測系統概觀........................................................................... 18
VII
3.2.2 電流量測模組........................................................................... 19
3.2.3 電壓量測模組........................................................................... 20
3.2.4 扭力量測模組........................................................................... 20
3.2.5 ADSP 即時運算模組.................................................................. 21
3.2.6 電源供應模組........................................................................... 22
3.2.7 系統配線及接線圖................................................................... 23
3.3 馬達與馬達驅動器........................................................................... 30
3.3.1 馬達........................................................................................... 30
3.3.2 馬達驅動器............................................................................... 31
3.4 人機介面端....................................................................................... 31
3.4.1 馬達驅動器人機介面設定....................................................... 32
3.4.2 步態量測人機介面設定........................................................... 33
3.4.2.1 系統參數設定................................................................ 34
3.4.2.2 動態曲線面板................................................................ 36
3.4.2.3 跑步步態曲線面板........................................................ 37
3.4.2.4 動態特性運算面板........................................................ 38
第四章 實驗設置與討論................................................................39
4.1 系統校正........................................................................................... 39
4.1.1 電流校正................................................................................... 39
4.1.2 電壓校正................................................................................... 44
4.1.3 扭力校正................................................................................... 48
4.2 跑步機馬達動態參數曲線量測....................................................... 51
4.2.1 實驗一:跑步機馬達動態曲線量測........................................... 51
4.2.1.1 實驗架設及操作流程.................................................... 51
4.2.1.2 實驗數據........................................................................ 53
4.2.1.3 實驗結果與討論............................................................ 58
4.3 步態趨勢量測與分析....................................................................... 59
4.3.1 實驗二:跑者在跑步機上之步態量測................................... 59
4.3.1.1 實驗架設及操作流程.................................................... 59
4.3.1.2 實驗數據、分析以及討論............................................ 61
第五章 結論與未來展望................................................................77
VIII
參考文獻................................................................................................78
附錄........................................................................................................80
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指導教授 葉則亮、江士標
(Tse-Liang Yeh、Shih-Biau Jiang)
審核日期 2008-7-14
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