基于LabVIEW和DSP技术的人工关节试验机数据采集和控制系统

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摘要

人工关节模拟试验机主要是用于评价人工关节假体生物材料的摩擦磨损特性

的装置。在完成试验机机械结构设计、制作的基础上，本课题设计了一种基于

LabVIEW 和DSP 技术的人工关节试验机数据采集和控制系统。

首先，在人工关节仿真模拟系统的柔性加载、机械运动和润滑模拟部分设计

完成的基础上，重点设计了髋关节、膝关节、脊椎关节仿真模拟系统的数据采集

和控制系统。本论文采用 DSP 开发板平台和 LabVIEW 软件进行人工关节数据采

集和控制系统的设计研究，将 DSP 开发板上主芯片 TMS320F2812 丰富的片上资

源、较高的数据处理能力与功能强大的图形化编程虚拟仪器开发平台 LabVIEW 相

结合，并通过串行通讯接口将数据传送到 PC 机中。由 LabVIEW 软件对人体髋关

节、膝关节、脊椎关节的运动和载荷进行仿真，并通过传感器采集到的运动和载

荷曲线信号由 DSP 开发板处理后，再由 LabVIEW 软件显示。设计了基于 DSP 芯

片TMS320F2812 的控制电机仿真人体运动和载荷、数据采集、模/数(A/D)转换和

串口通讯模块程序。

其次，上下位机都遵循模块化设计。下位机采用自上向下的设计思路，主要

分析了主程序的总体框架结构、模拟量采集程序的设计、串口通讯程序设计和脉

冲宽度调制(PWM)控制步进电机程序。

最后，对设计的人工髋关节、膝关节、脊椎关节的运动和载荷仿真系统进行

了调试。在调试的过程中，系统整体运行正常，设计的串行通讯接口实现了上、

下位机之间的通讯。上位机 LabVIEW 操作界面能够正常的发送仿真人体髋关节、

膝关节、脊椎关节的运动和载荷，同时能够显示从下位机发送过来的仿真人体关

节运动和载荷的数字量信号，并对这些信号进行处理,得出仿真人体关节运动的实

际结果。下位机 DSP 芯片 TMS320F2812 通过串行通讯接口接受上位机发送过来

的信息后，能够实现对步进电机的控制、采集到模拟人体关节运动的传感器模拟

量信号,并进行模数转换，同时将处理后的传感器信息给上位机。通过对调试结果

的分析,本系统基本实现在同一人工关节试验机平台基于步态情况下对人体髋关

节、膝关节、脊柱关节运动和载荷的仿真，并对仿真的结果进行了实时的显示。

在今后的研究中，可以将本系统应用于人工关节试验机来对各种材质的人工关节

进行体外仿生力学实验，对假体材料的耐磨、耐压、抗疲劳等生物力学性能进行

科学评价，为临床应用提供依据。

关键词：人工关节试验机 LabVIEW DSP 仿真系统

ABSTRACT

The artificial joint simulater is mainly used to evaluate the friction and wear

properties of the biological prosthesis materials． After completing the structure design

and production of the simulator, an artificial joints simulator data acquisition and

control system based on LabVIEW and DSP technology was designed.

Firstly, after completing the design of the artificial joints flexible loading parts and

mechanical movement parts and lubrication parts of the analog simulation system, the

data acquisition and control system of hip, knee and spine joint simulation were

especially designed based on it. The DSP development board and LabVIEW software

platform virtual instrument system was used in the research and design of the control

system and data acquisition. A powerful and graphical programming for virtual

instrument development platform of LabVIEW was combined with the main chip

TMS320F2812 of DSP development board with a rich on-chip resources and high data

processing capacity. Through a serial communication interface, the data was transferred

to the PC. The hip joint, knee joint and spine joint movement and loading of the human

body were simulated by the LabVIEW software. After the movement and loading curve

signal were collected by the sensor and processed by the DSP development board, the

results were shown by the LabVIEW software on PC. The PWM motor control of

simulating the human joint motion and loading, data acquisition, Analog-to-Digital

(A/D) conversion and serial communication module part of the program was designed

based on the TMS320F2812 chip of DSP.

Secondly, a modular design was followed by the supervisory computer and the

senior machine. The senior machine was designed with the top-down ideas. The overall

framework of the main program, the design of Analog to Digital Converter (ADC)

analog acquisition program, the design of serial communication program and the PWM

motor control program were mainly analysed.

Finally, the designed simulation system of the artificial hip, knee and spine joint

about movement and loading was debugged. In the debugging process, the system

operated normally and the serial communication interface achieved the communication

between the PC and the DSP. The LabVIEW user interface of the PC was able to send

the simulation signal of human hip, knee, spine joint movement and loading, at the same

time, the human joint movement and loading digital signal sent from the DSP could be

displayed and handled before obtaining the actual results of the simulating about the

human joint movement. After the information were received by the DSP chip of

TMS320F2812 from the PC via a serial communication interface, the control of the

stepper motor could be realized and the sensor analog signals of simulating human joint

movement were acquisited, while the processed sensor information were sent to the PC.

From the analysis of debugging results, based on the gait case, the human hip, knee

and spine joint movement and load simulation were basically realized by this system for

the same artificial joint testing machine platform and the simulation results were

displayed in real time. In the future studies, the system can be applied to the vitro

mechanical experiments of the simulator for the carbon or other materials, and

evaluating the biomechanical properties such as wear, pressure resistance and

anti-fatigue to provide the basis for clinical application.

Key Word: Artificial joint simulator, LabVIEW, DSP, Simulation

System

摘要

ABSTRACT

第一章绪论 ................................................................................................................ 1

§1.1 引言......................................................... 1

§1.2 人工关节仿真模拟试验机的研究现状 ............................. 2

§1.2.1 人工髋关节试验机研究现状 ................................. 3

§1.2.2 人工膝关节试验机研究现状 ................................. 9

§1.2.3 人工脊柱关节试验机研究现状 .............................. 13

§1.3 本文研究目的、主要研究内容及创新点.......................... 16

第二章人工关节试验机数据采集和控制系统开发环境 ........................................... 18

§2.1 虚拟仪器简介及开发环境介绍.................................. 18

§2.1.1 虚拟仪器介绍 ............................................ 18

§2.1.2 Lab VIEW 软件及开发环境介绍 ............................ 18

§2.2 DSP 芯片的选型和开发环境介绍 ................................ 19

§2.2.1 DSP 选型 ................................................ 19

§2.2.2 TMS320F2812 特点介绍 .................................... 20

§2.2.3 软件集成开发环境 CCS 介绍 ................................ 21

§2.3 本课题系统总体方案设计...................................... 22

§2.3.1 功能需求 ................................................ 22

§2.3.2 系统组成结构 ............................................ 23

§2.3.3 系统相关的功能模块说明 .................................. 23

§2.3.4 系统总体的设计方案 ...................................... 24

§2.4 本章小结.................................................... 25

第三章数据采集和控制系统硬件平台设计 ............................................................ 26

§3.1 总体硬件方案设计............................................ 26

§3.2 串口通信电路设计............................................ 28

§3.3 滤波电路设计................................................ 29

§3.4 本章小结.................................................... 32

第四章上位机 LabVIEW 和下位机软件的设计与实现 ............................................. 33

§4.1 上位机和下位机软件集成开发环境 Lab VIEW、CCS 简介 ............ 33

§4.2 上位机 Lab VIEW 软件总体设计方案............................. 33

§4.2.1 需求分析 ................................................ 33

§4.2.2 软件功能 ................................................ 34

§4.3 上位机 Lab VIEW 软件的设计与实现............................. 34

§4.3.1 人工髋关节数据采集和控制系统设计 ........................ 38

§4.3.2 人工膝关节数据采集和控制系统设计 ........................ 43

§4.3.3 人工脊柱关节数据采集和控制系统设计 ...................... 47

§4.4 DSP（下位机）软件总体框架................................... 51

§4.4.1 下位机初始化程序模块 .................................... 53

§4.4.2 ADC 数据采集程序模块 .................................... 53

§4.4.3 ADC 初始化程序设计 ...................................... 55

§4.5 SCI 程序发送和接受模块 ...................................... 57

§4.5.1 SCI 串行通信模块结构 .................................... 57

§4.5.2 SCI 发送和接收程序设计 .................................. 58

§4.6 人工关节试验机控制模块...................................... 59

§4.6.1 髋关节控制模块 .......................................... 60

§4.6.2 膝关节控制模块 .......................................... 61

§4.6.3 脊椎关节控制模块 ........................................ 61

§4.7 本章小结.................................................... 62

第五章人工关节试验机数据采集和控制系统性能评价 ......................................... 63

§5.1 信号仿真.................................................... 63

§5.2 控制系统仿真................................................ 65

§5.3 本章小结.................................................... 69

第六章总结与展望 ................................................................................................. 70

§6.1 总结 ........................................................ 70

§6.2 展望........................................................ 70

附录 .......................................................................................................................... 72

参考文献 .................................................................................................................... 99

在读期间公开发表的论文和承担科研项目及取得成果 ......................................... 106

致谢 ........................................................................................................................ 107

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摘要：

摘要人工关节模拟试验机主要是用于评价人工关节假体生物材料的摩擦磨损特性的装置。在完成试验机机械结构设计、制作的基础上，本课题设计了一种基于LabVIEW和DSP技术的人工关节试验机数据采集和控制系统。首先，在人工关节仿真模拟系统的柔性加载、机械运动和润滑模拟部分设计完成的基础上，重点设计了髋关节、膝关节、脊椎关节仿真模拟系统的数据采集和控制系统。本论文采用DSP开发板平台和LabVIEW软件进行人工关节数据采集和控制系统的设计研究，将DSP开发板上主芯片TMS320F2812丰富的片上资源、较高的数据处理能力与功能强大的图形化编程虚拟仪器开发平台LabVIEW相结合，并通过串行通讯接口将数据传...

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