摘要
智能人工腿是机器人学和生物医学工程学领域一个备受关注的研究课题 ,以前研制的智能人工腿 ,其汽缸内针阀开度的控制都是采用步进电机所构成的开环系统 ,位置精度不高。在本文中 ,我们将设计一个具有位置和速度反馈的闭环控制系统并引入基于 Fuzzy推理的整顿 PID控制策略 ,以提高控制系统的智能性、鲁棒性、快速性和准确性。本文首先概述了智能人工腿的控制原理和 TMS32 0 F2 40数字信号处理器 (DSP)的主要特点 ,其次设计了一种基于 Fuzzy PID的直流电机位置伺服控制系统的结构 ,最后对该位置伺服系统进行了计算机仿真。结果表明 ,本文所提出的设计方法是正确、可行的 ,可以有效地用于智能人工腿的行走控制。
Intelligent artificial leg has been an interesting research project in the fields of robotics and biomedical engineering,For the past years, the controoller used for controlling the turndown ratio of needleplug valve of an air cylinder in these legs is an openloop system composed of a stepping motor,and has lower position precision.In this paper, we will design a closedloop control system with position and velocity feedback and adopt fuzzy PID control strategy so as to raise the intelligent behavior, robustness, response speed, and accuracy of this control system. First,we give introductions to the control principle of intelligent artificial legs and main characteristics of TMs320F240 digital signal processor(DSP),and then propose a system structure for position servo control of intelligent artificial legs based on TS320F240.The result of computer simulation to this control system indicates that the design method proposed here is correct and can be used effectively to control the walking movements of intelligent artificial legs.
出处
《计算技术与自动化》
2001年第3期53-58,共6页
Computing Technology and Automation
基金
中国科学院机器人学开放研究实验室基金资助项目 (RL2 0 0 0 0 2)
