鲁棒PID控制策略在FES脚踏车控制系统中的应用及仿真研究

FES Cycling Robust PID Control Strategies and Stimulation

本研究以英国Glasgow大学康复研究中心所提供的三个脊髓损伤患者的实验数据为基础 ,通过系统辨识获得了被控对象的数学模型 ,并将鲁棒PID控制算法应用于功能性电刺激脚踏车系统的速度控制 ,从而实现了鲁棒PID速度控制器设计目的。仿真结果表明 ,FES脚踏车系统能实现对任意速度轨迹的跟踪 ,并且轨迹跟踪精度高、抗干扰能力及鲁棒性较强 ,该算法为FES脚踏车系统速度控制提供了一种新的鲁棒控制策略。

The method is based upon the experimental data of three spinally injured paraplegic patients, by identifying the muscle responses from the data and then achieving plant to be controlled mathematical models. So robust PID controlled algorithm is applied to control of FES cycling speed to the aim of designing robust PID speed controller. The simulation results demonstrate that FES cycling can implement the ability of automatic track to arbitrary speed profiles and has strong performance of disturbance rejection and robustness. The controlled algorithm provides a new robust control strategy for FES cycling.