假肢膝关节随动控制系统研究与设计  

Study and Design of Prosthetic Knee Joint Servo Control System

作　　者：陈齐欧[1] 丁皓[1] 尚昆[1] 沈力行[1] 徐晶晶[1] 

机构地区：[1]上海理工大学生物力学与康复工程研究所,上海200093

出　　处：《计算机测量与控制》2010年第8期1771-1773,共3页Computer Measurement &Control

摘　　要：介绍了基于假肢膝关节的跟随健康腿运动控制系统的设计;为了使智能型膝关节能够较好地跟随健康腿运动;根据假肢膝关节结构、工作原理,设计了假肢膝关节步态随动控制软硬件系统,采用了模糊PID控制算法以闭环的方式对系统进行控制;实验中的各个控制器参数能够随偏差信号的变化而变化,适应能力强,效果好;模糊PID控制算法的效果明显,验证了控制算法的可行性和系统良好的跟随性能,为步态跟随的实现提供了保障。This paper describes the design of prosthetic knee joint servo motion control system following health leg movement. Objective It is to develop a domestic leading level of the intelligent knee joint, which to be made better to follow the health leg movement. Methods Ac cording to the prosthetic knee joint structure, working principle, design the prosthetic knee joint gait servo control hardware and software system, using fuzzy PID control algorithm in a way of the closed--loop control system. Results The various controller parameters change following the deviation signal, and it is adaptable and effective. Conclusion The results of the fuzzy PID control algorithm clearly demonstrated that it shows the feasibility of controlling algorithms and the good performance of following.

关 键 词：假肢膝关节 随动系统 模糊PID控制 PMA 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]