摘要
针对下肢康复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Matlab/Simulink/SimMechanics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。
A control strategy based on fuzzy auto-setting PID is proposed to compensate the periodic varying load in the gait control robot, one part of the lower limb rehabilitative training robot. Firstly, the load model is build, then a fuzzy auto-setting PID controller is designed, finally, the plant dynamics and the whole control system are modeled based on Matlab/Simulink./SimMechanics simulation environment. The simulation results show that the control strategy based on fuzzy auto-setting PID is feasible with lower overshot, more prompt respond and little steady-state error compared with the classic PID controller and fittest tracing the planed motion input with the load varying and satisfied the control requirements.
出处
《测控技术》
CSCD
北大核心
2009年第2期43-46,共4页
Measurement & Control Technology
基金
国家自然科学基金(60575053)
高等学校博士学科点专项科研基金(20060217024)
