摘要
为研究下肢外骨骼机器人控制技术对轨迹跟踪的影响规律,首先对下肢外骨骼机器人进行结构设计,基于MSC.ADAMS软件建立了外骨骼机器人模型;借助模糊PID控制方法研究下肢外骨骼控制方法,分别研究了传统PID与模糊PID控制技术对外骨骼控制的影响规律;利用MATLAB与MSC.ADAMS实现了对外骨骼运动控制的联合仿真,并对比了输入步态曲线和实际跟踪曲线.研究表明:在相同条件下,模糊PID的控制算法相较于传统PID控制算法能够更快速和准确地跟踪步态曲线,并且能够更好地克服外部扰动.
To study the influence law of the lower limb exoskeleton robot control technology on trajectory tracking,this paper carried out the structural design of the lower limb exoskeleton robot,established the exoskeleton robot model based on the MSC.ADAMS software,and studied the lower extremity exoskeleton control method with the help of fuzzy PID control method.The effects of traditional PID and fuzzy PID control techniques on exoskeleton control were studied respectively.We Use MATLAB and MSC.ADAMS to realize the joint simulation of exoskeleton motion control.By comparing the input gait curve and the actual tracking curve,it shows that the fuzzy PID control algorithm can be faster and with more accuracy track the gait curve than the traditional PID control algorithm under the same condition,and can better overcome external disturbances.
作者
吴青鸿
李健
刘欢
杨小龙
丛佩超
葛动元
WU Qinghong;LI Jian;LIU Huan;YANG Xiaolong;CONG Peichao;GE Dongyuan(School of Mechanical and Traffic Engineering,Guangxi university of Science and Technology,Liuzhou 545000,China)
出处
《广西科技大学学报》
2020年第4期104-111,共8页
Journal of Guangxi University of Science and Technology
基金
国家自然科学基金项目(81960332)
广西创新驱动发展专项(桂科AA17204062)
广西科技基地和人才专项(桂科AD19110021)
广西高校中青年教师科研基础能力提升项目(2019KY0363)资助。
