迭代学习控制及其在人工关节试验机电液位置／力伺服系统中的应用

lterative Learning Control,and lts Application to the Hip Joint Simulater Electrohydraulic Position/Force Servo Systems of the Artificial

本文介绍了迭代学习控制的基本原理、控制算法的构成以及控制算法的计算机实现，将这种控制算法应用于人工关节试验机电液位置／力伺服系统后，系统随跟典型人体关节运动曲线和典型人体关节受力曲线的精度明显提高。

This paper introduces the basic fundamentais of the iterative learning control,the structure of the control algorithms and the computer realisitionof the algorithms.By applying the algorithms to the electrohydraulic position/force servo systems of the artificial hip joint simulator,the accu-racy of tracing the typicai natural hip joint moving trajectory and thetypical natural hip jint force trajectory of the system is obviouslyimproved.