摘要
针对目前下肢助行康复机器人减重系统存在的一些问题,提出了一种模糊PID的控制算法。首先对助行康复机器人i Re Go整体以及减重系统的机械结构方面进行分析介绍,建立了减重系统的动力学模型。其次,分析介绍了传统PID控制器存在的缺点。通过模糊控制与传统的PID算法结合,对PID参数进行在线自整定,实现了在康复训练过程中减重机构实时跟随病患骨盆上下运动并提供稳定的减重力。最后进行了与传统PID算法的对比实验验证,结果表明在康复训练过程中提出的控制算法比传统的PID控制算法能够给病患提供更加准确的减重力。
A fuzzy PID control algorithm is proposed aiming at the problems in the current lower limb assisted rehabilitation robot weight loss system. First, the mechanical structure of the robot and the weight loss system is analyzed and the kinematic model for the weight loss system is established. Second , analysising the shortcomings of traditional PID controllers. Combining fuzzy control algorithm and traditional PID algorithm , and realizes the PID parameters online self-tuning, which realizes that the weight-reduction mechanism can follow the up-and-down movement of the patient "s pelvis in real time during the rehabilitation training process and provide stable weight reduction. At last, the experimental verification with the traditional PID algorithm is carried out. The results show that the proposed control algorithm can provide patients with a more accurate weight reduction than the traditional PID control algorithm in the rehabilitation process.
作者
李红哲
赵冬冬
Li Hongzhe;Zhao Dongdong
出处
《计量与测试技术》
2019年第3期52-55,共4页
Metrology & Measurement Technique
基金
上海市科学技术委员会科技支撑
项目编号:17511107801
关键词
助行康复机器人
减重系统
减重训练
模糊PID
walking - aid rehabilitation robot
weight loss system
weight loss training
fuzzy PID
