假肢膝关节嵌入式控制器的设计与临床试验-控制科学与工程专业论文.docxVIP

河北工业大 河北工业大学硕士学位论文 假肢膝关节 假肢膝关节嵌入式控制器的设计与临床试验 假肢膝关节嵌入式控制器的设计与临床试验 摘 要 随着截肢患者对假肢性能要求的不断提高，下肢假肢膝关节的智能控制成为假肢科研 领域的热点问题，其中智能控制器的设计是关键问题。本文的工作任务是实现四连杆膝关 节下肢假肢在水平行走摆动相时的膝关节运动能够跟踪健侧腿相应关节运动轨迹，主要内 容如下： 首先详细论述了下肢假肢研究的意义及背景，分析了健侧腿在水平行走的步态特征， 对步态相位进行了识别，并阐述了膝关节气压阻尼系统的控制结构及原理，为后面的控制 方法的研究提供了理论基础。 其次，在有限状态机控制和模糊控制的基础上，设计了四连杆膝关节下肢假肢的嵌入 式控制器。将控制方法用于下肢假肢的研究中，解决了对象模型难以建立的问题，很大程 度上克服了下肢假肢控制系统中非线性、强耦合、不确定性等因素对控制性能的影响，实 现了步速跟随的目标。 然后，对本文设计的四连杆膝关节下肢假肢智能控制器进行了调试和临床试验，实验 结果表明，假肢膝关节取得了较好的效果。 最后，总结了本文的主要工作并分析了设计中遇到的问题与设计中的缺陷和不足，对 今后的下肢假肢控制系统的工作进行了展望。 关键词：假肢膝关节，嵌入式控制器，模糊控制，智能控制器 i PAGE PAGE iv Design And Clinical Trials Of Prosthetic Knee Embedded Controller ABSTRACT With increasing demands on prosthesis for amputees, the intelligent controller for lower limb prosthesis is the mostly investigated problem in the field of prosthesis research, while the design of intelligent controller is the key. In this paper, the study is based on movement of the swing phase in level walking of knee joint of a 4-bar lower limb prosthesis by tracking the movement contrail and relevant movement of patient’s sound leg. The main content are shown as follows: Firstly, the background and significance of the study on lower limb prosthesis is discussed. The gait feature of the sound leg in level waling is analyzed, and the gait phase is identified, and the structure and theory of pneumatic control system is discussed, which provide the theoretical basis for the study of control method. Secondly, according to the design of finite state controller and fuzzy controller, an embedded controller of a 4-bar lower limb prosthesis controller is proposed separately. The defect of nonlinear, uncertain, and strong coupling on the control effect in the control of a 4-bar lower limb prosthesis can be suppressed by applying the finite state control and fuzzy control without establishing the object model. The target of following the walking speed of sound leg is achieved. Thirdly, for the intelligent controller of a 4-bar lower