摘  要：提出了一种以单片机为核心控制单元，控制有限转角直流力矩电机和阻尼源磁粉制动器，面向下肢截肢患者进行下肢康复训练系统的控制方案。采用ATmega16单片机输出脉宽调制（PWM）信号，通过输出不同占空比的周期性方波，对驱动电路进行调制。并且介绍了其硬件结构和构成，以及相应的软件设计思路。此方法能够实现单片机对直流电动机和磁粉制动器的准确控制，完成了对下肢训练系统驱动电路的设计和编程。
关键词：有限转角直流力矩电机；ATmega16单片机；磁粉制动器；PWM控制

Abstract: Provided a new method of controlling direct-current micro-motor and magnetic powder brake for the rehabilitative exercises system of lower residual limbs based on singlechip for the patients of residual limbs.Adopt ATmega 16 single chip to output pulse-width modulation（PWM）to modulate drive circuit by outputting periodic square wave of different ratio.Introduced the configuration and constitution of hardware,and the design thought of software.This method can achieve the control of DC generator and magnetic powder brake by single-chip,accomplish the design and program of drive circuit in the rehabilitative exercises system of lower residual limbs.
Key Words: Limited angle DC torque motor；ATmega16 single-chip； Magnetic powder brake；PWM control