基于二端口网络模型的PI-阻尼控制研究

Research on the PI-Damping Control Based on the 2-Port Circuit Model

针对临床康复训练运动平稳平滑特性要求,在传统的PI控制基础上,提出了PI-阻尼控制器设计方法。根据机器人和患肢的动力学模型,结合PI-阻尼控制设计架构,通过建立二端口网络模型,从理论上对PI-阻尼控制的稳定性和平滑性进行了证明。通过2名健康受试者,在构建的WAM康复训练系统上进行了非平稳运动实验研究。实验结果表明,PI-阻尼控制较传统的PI控制具有更好的运动控制性能,能够很好地应对外界突发扰动,有效实现稳定平滑的训练运动。

A PI-dumping controller design method based on the traditional PI controller is proposed to meet the special requirements on the stability and smoothness of the clinically rehabilitation training. According to the dynamic models of the robot and the impaired limb, combined with the designed PI-damping con- troller, the stability and smoothness of the PI-damping control are proved in theroy using 2-port circuit model. The experiments of non-stationary training exercises with two helthy subjects are investigated on the WAM rehabilitation training system. The experimental results indicate that the H-damping control has better motion performances than the PI control in dealing with sudden disturbance and serving with stable and smooth training exercises.