摘要
在下肢康复机器人患者主动运动训练的过程中,为防止因肌肉痉挛等造成跑步机加速度过大对患者产生二次伤害,提出一种基于加速度抑制的跑步机速度协调控制方法。采用系统辨识的方法建立跑步机的数学模型。采用基于H2优化设计方法和连续时间系统切换理论设计具有加速度抑制的跑步机速度PI控制器。仿真结果表明,该控制器既能对跑步机的加速度进行抑制,又能使跑步机的速度快速跟踪患者期望的步行速度,实现了患者下肢与跑步机之间速度的协调控制。
In the course of active exercise training for patients with lower limb rehabilitation robots, a treadmill speed coordinated control method based on acceleration suppression is proposed to prevent secondary damage to patients caused by muscle spasms. The mathematical model of treadmill is established by means of system identification. Based on the H2 optimal design method and the continuous time system switching theory, the treadmill speed PI controller with acceleration suppression is designed.The simulation results show that the controller can not only reduce the acceleration of the treadmill, but also keep the speed of the treadmill track the expected walking speed of the patient, and realize the coordinated control of the speed between the lower limb and the treadmill.
作者
李峰
吴智政
侯伟
秦晓飞
Li Feng;Wu Zhizheng;Hou Wei;Qin Xiaofei(School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China)
出处
《系统仿真学报》
CAS
CSCD
北大核心
2019年第6期1111-1122,共12页
Journal of System Simulation
基金
国家重点研发计划(2016YFF0101400)
关键词
下肢康复训练机器人
H2优化
系统切换
加速度抑制
速度协调控制
lower extremity rehabilitation training robot
H2 optimization
system switching
acceleration suppression
speed coordinated control
