Tremor Suppression Method via Magnetorheological Damper and Fuzzy Neural Network Control  

作　　者：李军强 臧希喆 赵杰 

机构地区：[1]State Key Laboratory of Robotics and System,Harbin Institute of Technology

出　　处：《Journal of Donghua University(English Edition)》2010年第4期486-490,共5页东华大学学报（英文版）

基　　金：Doctoral Fund of Ministry of Education of China(No.20070213086);National Natural Science Foundation of China(No.60975067)

摘　　要：Based on the performance of magnetorheological damper we have developed,a tremor suppression method using human limb nonrigid characteristic was presented.The tremor suppression machine was designed,and the measure part and the tremor suppression part were separated.Subsequently,the mathematic models of fuzzy neural network and elbow nonrigid tremor were worked out.Using selected training data set,the off-line fuzzy neural network training was finished.Then the tremor suppression method was simulated in Matlab.From the simulation results,it is found that the tremor suppression method has presented suppresses tremor effectively,and the tremor amplitude and tremor suppression torque can be controlled with angle displacement sensor.Based on the performance of magnetorheological damper we have developed,a tremor suppression method using human limb nonrigid characteristic was presented.The tremor suppression machine was designed,and the measure part and the tremor suppression part were separated.Subsequently,the mathematic models of fuzzy neural network and elbow nonrigid tremor were worked out.Using selected training data set,the off-line fuzzy neural network training was finished.Then the tremor suppression method was simulated in Matlab.From the simulation results,it is found that the tremor suppression method has presented suppresses tremor effectively,and the tremor amplitude and tremor suppression torque can be controlled with angle displacement sensor.

关 键 词：magnetorheological damper nonrigid body fuzzy neural network tremor suppression 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程]