电控液压膝关节控制方案设计及计算机实例仿真

Design and computer simulation of knee electro-hydraulic prosthesis

膝关节动力学问题是智能仿生人工腿应用研究中的重要内容。针对智能仿生人工假腿,提出了一种简单、通用的电控液压膝关节控制方案,并设计出膝关节假肢的基本结构,建立了非线性动力学模型,同时考虑到了关节间的摩擦问题。最后,通过PD反馈控制器以及自适应控制器的计算机实例仿真实现了步态跟随,从而验证了理论的正确性、有效性。

Dynamics of knee is an important subject for research of intelligent bionic artificial limb prosthesis. Aiming at intelligent bionic artificial limb prosthesis, this paper presented a simple and universal scheme of knee electro-hydraulic prosthesis, designed the basic structure of the knee joint prosthesis, set up model of non-linear dynamics, and considered friction questions between joints. The accuracy and efficacy are verified by simulation results of PD feedback controller and self-adapt controller.