主动式踝关节假肢的位置伺服系统研究  

Research on the Position Servo System of Powered Ankle Prosthesis

作　　者：陈静[1] 邱长青[1] 刘洋[1] 徐桂敏[1] 

机构地区：[1]武汉理工大学自动化学院,湖北武汉430070

出　　处：《武汉理工大学学报（信息与管理工程版）》2009年第2期220-222,共3页Journal of Wuhan University of Technology：Information & Management Engineering

基　　金：国家自然科学基金资助项目(50148020)

摘　　要：根据人体脚踝的运动特性,设计了具有位置、速度和电流反馈的闭环控制的主动式踝关节假肢的位置伺服系统,为身体前进提供足够的能量,以实现步态轨迹,并在控制系统的位置环引入Fuzzy-PID控制策略。仿真结果表明,Fuzzy-PID控制器用于主动式踝关节假肢位置伺服系统具有很好的智能性、鲁棒性、快速性和准确性,可以有效地用于主动式踝关节假肢的行走控制。According to the moving feature of the human ankle, the closed - loop position servo system of the powered ankle prosthesis was designed, which consists of the position, velocity and current feedback. This position servo system is able to provide adequate energy for forward progression of the body,and implement human gait trajectory. Fuzzy - PID control algorithm was adopted in the position loop of the control system. The simulation results show that the Fuzzy - PID controller improves the intelligent behavior,robustness, response speed, and accuracy of the position servo system of the powered ankle prosthesis, which can be used to control the walking movements of powered ankle prosthesis effectively.

关 键 词：主动式踝关节假肢 位置伺服控制 Fuzzy—PID 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]