基于模糊PID的助行外骨骼机器人控制研究

Fuzzy PID-based control of the walk-aided exoskeleton robot

为了研究外骨骼机器人的步态控制,提出了一种基于模糊PID的算法,首先给出机器人的一般增量式PID控制算法,然后根据机器人关节角度误差和误差变化量的参数,选择了隶属函数,最后结合实际操作经验,建立了模糊规则表,完成了对PID参数的在线自整定。试验结果表明,模糊PID控制方法能够使外骨骼机器人平稳运动,初步实现了机器人的步态控制。

In order to realize the gait control, the fuzzy PID-based control algorithm was proposed. Firstly, the general incremental PID con- trol algorithm of the robot was given. Then, the membership functions were selected according to the parameters of the angle error and the variations of the error of the robot. Finally, the table of fuzzy control was established for the online auto-tuning of the PID parameters based on the actual operating experience. The test results show that the fuzzy PID control could make the exoskeleton robot walk steadily and finish the gait control of the robot preliminarily.