摘要
由于需要适应患者的参数个性化与步速变化,人体大腿假肢系统参数具有模型非线性与参数不确定性等复杂系统特性,因此需要寻求有效的智能控制方法。以一种自制的液压型智能大腿假肢结构为例,首先建立基于非线性阻尼控制参数与人体髋关节力矩的人机动力学模型,根据智能假腿的复杂系统特性设计一种PD-FCMAC逆动态复合控制模型,实现膝关节轨迹跟踪控制。以所建立的假腿实验样机动力学模型为对象,对PD-FCMAC方法进行实验仿真。实验结果表明,大腿假肢膝关节可以在约0.5 s时间内跟踪好目标曲线,具有良好的实时性与精度,且获得的膝关节阻力矩结果与膝关节角度曲线的循环交变规律一致。
To meet the need of parameter personalization and walking speed variance of patients,leg prostheses have parameter systems with complex features including nonlinearity and parameter uncertainty,however conventional mathematic models can not meet the demand for the actual control because the IPL knee torque is indirectly caused by the nonlinear damping at the knee joint.Hence intelligent prosthetic leg（IPL） system is required.In this work a dynamic model of self-made hydraulic IPL with the nonlinear damper control parameters and hip torque was established,and an inverse dynamic compound controller of PD-FCMAC for tracking the knee swing was designed.A case simulation showed that an arbitrary trajectory could be tracked in less than 5 s,which proved that the designed controller had high real-time performance with good precision.
出处
《中国生物医学工程学报》
CAS
CSCD
北大核心
2012年第1期83-88,共6页
Chinese Journal of Biomedical Engineering
基金
上海市重点科技攻关项目(11441900502)
作者简介
通信作者。E—mail：yhl98@hotmail．com
