摘要
介绍了便携康复训练器的基本结构和控制系统。控制系统主要由PID控制器、改进卡尔曼滤波器以及限幅输出控制器组成。利用"当前"模型的改进卡尔曼滤波算法对下一时刻的运动速度预估,由此预测训练者的训练意图,控制系统根据训练意图给出合适的输出。仿真结果表明利用"当前"模型的改进卡尔曼滤波算法较好地识别出了痉挛的发生以及主动训练的意图。
The basic structure and the control system about the portable rehabilitation training device was introduced. The control system of this device is mainly composed of PID controller, improved kalman filter and the limiting output controller. Using the improved kalman filter algorithm based on the ＂current ＂ model to estimate the training intention of the trainer, control system output according to the intention. Through The results of the simulation identify the spasm and the intention of the active training by the improved kalman filter algorithm based on the ＂current ＂model.
出处
《科学技术与工程》
北大核心
2015年第7期214-220,共7页
Science Technology and Engineering
基金
北京高等学校青年英才项目(YETP1498)资助
关键词
便携康复训练器
PID控制器
“当前”模型
卡尔曼滤波
portable rehabilitation training device PID controller ＂ Current＂ model Kalman filter algorithm
