摘要
以现有FES(functional electrical stimulation,功能性电刺激)脚踏车系统为基础,通过加入辅助电机,实现对FES脚踏车系统的速度控制。采用辨识方法,获得了被控对象的数学模型,并提出一种实用性强且计算量较小的极点配置自校正控制的新方法,设计了专用速度控制器。在matlab/simulink中进行了跟踪性能测试和抗干扰测试,仿真和实验结果表明系统的响应特性和跟踪性能良好,抗干扰能力强。研究结果对工程应用具有较大参考价值。
Based on the current FES cycling system,the speed of FES cycling system was well controlled by adding motor assist, Mathematical model of the controlled plant was achieved by identification. And a new pole placement selftuning controller was designed by a proposed algorithm with simple and less calculation. Speed tracking and disturbance rejection were tested in matlab/simulink. The results of simulation and experiment showed that the system was with good tracking performance and strong disturbance rejection. This research can provide a reference to engineering application.
出处
《北京生物医学工程》
2007年第2期149-152,共4页
Beijing Biomedical Engineering
基金
国家自然科学基金(50575053)
哈尔滨工业大学跨学科交叉性研究项目(HIT.MD.2003.12)资助
