基于模煳自整定PID的下肢康复训练步态机器人变负载控制.pdf

基于模糊自整定 PID的下肢康 训练步态机器人变负载控制 43 基于模糊自整定 PID 的下肢康复训练 步态机器人变负载控制 , ( , 150080) : 针对下肢康 训练机器人中步态控制机器人的变负载问题, 提出了基于模糊自整定 PID的控制策 略首先推导了负载力模型, 设计了模糊自整定控制器, 基于M atlab/S mi u link/S mi M chanics建立了被控 对象的动力学模型及整个控制系统的仿真模型, 仿真结果表明所提出的控制策略是可行的, 较经典PID控 制具有超调小, 响应速度快, 稳态精度高等优点, 能较好地跟踪规划运动曲线, 满足系统控制性能要求 : 下肢康 训练机器人; 步态控制机器人; 模糊自整定 PID; 变负载; 仿真 : TP24 : A : 1000- 8829( 2009) 02- 0043- 04 FuzzyAutoSetting PID Control for the Varying Load in theGaitControl Robot toAssist the Lower Limb Rehabilitative raining ZHANG X iaochao, ZHANG L ixun (Coll g ofM chan ical and E l ctrical Engin ring, H arb in Eng in ringUn iv rs ity, H arbin 15000 1, Ch ina) Abstract: A control strat gy bas d on fuzzy autos tting PID is propos d to comp nsat th p riodic vary ing load in th gait control robot, on part of th low r lmi b r habilitativ train ing robot. Firstly, th load mod l is build, th n a fuzzy autos tting PID controll r is d sign d, finally, th plan t dynam ics and th w hol control sys t m ar mod l d bas d on M atlab/S mi ulink/S mi M chan ics smi u lation nvironm nt. Th smi u lation r sults show that th control strat gy bas d on fuzzy autos tting PID is f asib l w ith low r ov rshot, mor prompt r spond and littl st adystat rror compar dw ith th classic PID controll r and fitt st tracing th p lan d motion inputw ith th load vary ing and satisfi d th control r qu ir m nts. Key words: low r lmi b r hab ilitativ robot; gait control robot; fuzzy autos tting PID; vary ing load; smi u lation , , ( , ) , [ 2] , [ 1] , , , ,