CPM康复器中的直流电机PID调速控制

采用梯形法和微分先行算法对传统的数字PID算法进行改进，提高了直流电机的PID调速稳定性和精度。基于调节电枢电压的调速方法和PWM原理，给出了通过测量电枢电流实现电机输出扭矩测量的方法。在LabVIEW软件开发环境和NIELVISⅡ＋实验平台基础上，构建直流电机调速系统，通过实验验证了对PID算法改进的有效性，以及在CPM康复器中不用扭矩传感器而实现电机扭矩测量的可行性。

PID Speed Control of DC Motor in CPM Rehabilitation Apparatus

The traditional PID algorithm is improved by use of trapezoidal method and differential ahead algorithm,which enhances the stability and accuracy of the PID speed governing of DC motor.A method to measure DC motor’s output torque by means of measuring armature current is presented based on the speed governing method of adjusting armature current and PWM principle.On the basis of LabVIEW and NI ELVISⅡ+ experimental platform,the speed governing system for DC motor has been built.The experimental results not only verify the validity of improved PID algorithm,but also the feasibility of the method to measure DC motor’s output torque without torque sensor in CPM rehabilitation apparatus.