智能康复训练机械臂轨迹跟踪控制研究

Reasearch on Tracking Control of Intelligent Rehabilitation Training Manipulator

针对智能康复训练机械臂具有的非线性、强耦合和时变特性,本文采用广义逆将机械臂解耦成六个单输入单输出的控制子系统。解耦后的系统与原系统构成复合系统,解决了非线性和强耦合性的控制难题。同时,还采用PID控制对康复训练机械臂系统进行轨迹跟踪控制。为了简化算法,取得最佳的控制效果,采用粒子群算法对其控制参数进行寻优,并将最优的控制参数代入控制器。仿真结果表明:基于广义逆和粒子群(PSO)的PID控制算法能够较好地实现轨迹跟踪。

Aiming at the nonlinearity,strong coupling and time-varying characteristics of the intelligent rehabilitation training manipulator,the generalized inverse method was used to decouple the manipulator into six single input and single output control subsystems.The decoupled system and the original system constituted a composite system,which solved the control problem of non-linearity and strong coupling.At the same time,PID control was used to track the trajectory of the rehabilitation training manipulator system.In order to simplify the algorithm and achieve better control effect,particle swarm optimization was used to optimize its control parameters,and the optimal control parameters were substituted into the controller.The simulation results showed that the PID control algorithm based on generalized inverse sum particle swarm optimization(PSO)could achieve better trajectory tracking.