智能仿生人工腿位置伺服控制系统的设计  

Study and Design of Position Servo Control System of Intelligent Bionic Artificial Leg

作　　者：贺光辉[1] 谭冠政[1] 曾庆冬[1] 钟金[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《计算机测量与控制》2007年第1期52-55,共4页Computer Measurement &Control

基　　金：国家自然科学基金资助项目(50275150);高等学校博士学科点专项科研基金资助项目(20040533035);湖南省自然科学基金资助项目(05jj40128)

摘　　要：CIP-I Leg是国内首个智能仿生人工腿原型机;针对智能仿生人工腿应能模仿人体健康腿的运动方式且步行速度可自然、随意地跟随截肢者步行速度的变化而变化的显著特点,同时考虑到高精度、低功耗和人工腿内缸体积小3个基本因素,采用TI公司的新型超低功耗微处理器MSP430F149,设计出一种基于非线性PID控制的人工腿位置伺服控制系统的结构;实验结果表明,所设计的伺服控制系统运行可靠,实时性好,功耗低,精度高,可以有效地用于CIP-I Leg的步行走控制。CIP--I Leg is the first prototype of intelligent bionic artificial leg designed by Chinese researchers. To the marked eharaeteristics of the intelligent bionic artificial leg , it should imitate the movement ways of human healthy legs and its walking speed can change naturally with the change of the disables＇ walking speed, meanwhile, considering the three basic ingredients followed below high accuracy, low power consumption, and small volume of artificial leg＇s inner jar. This paper adopts MSP430F149, a new supper low power consumption microprocessor produced by TI Corporation, and then proposes a system structure for position servo control of intelligent bionic artificial leg based on nonlinear PID control strategy. The result of experiments indicates that this servo control system runns reliably, and has high accuracy, low power consumption and good real--time characteristic, and can be used effectively to control the walking movements of CIP--I Leg.

关 键 词：CIP—I Leg蚁群算法 非线性PID控制器 位置伺服控制系统 MSP430F149微处理器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]