摘  要：针对广大老年人普遍存在的行走不便问题，该文设计了一种以TMS320F2812为核心，基于微电机的便携式髋关节辅助外骨骼系统。首先介绍了髋关节外骨骼系统工作原理、硬件组成及相应软件结构；然后，讨论了电机转速受限状态下，输出转矩的控制模型，采用最小拍控制算法对电机电枢电流进行伺服控制；通过调节电压PWM波占空比实现对电机负载电流的控制，进而完成对电机输出转矩的控制。最终保证了髋关节辅助外骨骼提供的辅助力矩光滑、平稳。
关键词：外骨骼；微电机；TMS320F2812；转矩控制

Abstract: In order to relieve the difficulty in walking for the elderly，a kind of hip assistant exoskeleton system was designed based on the micro-motor,with TMS320F2812 DSP as its core.In the paper，the working principle of the system，its hardware architecture and its software framework were introduced at first;then the control model of the micro-motors output torque was established which worked under restricted speed by adopting the deadbeat control algorithm which realized closed-loop control for the motor’s armature current.By adjusting the voltage PWM wave duty cycle,the motor load current was controlled which completed the control of the motor’s output torque.This method can assure the smoothness and stability of the assistant exoskeleton in motion.
Key words: exoskeleton；micro-motor；TMS320F2812；torque control