磁流变假肢膝关节CT+PD轨迹跟踪控制研究  

CT+PD trajectory tracking control of magnetorheological damper-based prosthetic knee

作　　者：易锋 胡国良 梅鑫 邓英俊 Yi Feng;Hu Guoliang;Mei Xin;Deng Yingjun(Key Laboratory of Conveyance and Equipment,Ministry of Education,East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]华东交通大学载运工具与装备教育部重点实验室,南昌330013

出　　处：《现代制造工程》2020年第10期108-113,119,共7页Modern Manufacturing Engineering

基　　金：国家自然科学基金资助项目(51765016)。

摘　　要：以磁流变阻尼器为制动器的磁流变假肢膝关节具有阻尼连续可调的优点,但如何使其具有较好的仿生性是限制磁流变假肢膝关节商业化发展的重要因素。基于健康人在平地行走的步态数据,建立单轴式磁流变假肢膝关节处于摆动相内的动力学模型。在传统比例微分(Proportional Derivative,PD)控制基础上,引入计算力矩(Computing Torque,CT)控制方法,提出CT+PD轨迹跟踪控制算法,并对单轴式磁流变假肢膝关节小腿摆动角度进行控制。介绍了CT+PD轨迹跟踪控制算法原理并对其稳定性进行分析。建立磁流变假肢膝关节控制系统,并将PD控制器与CT+PD控制器对比,仿真得到CT+PD控制器的最大绝对误差为4.6°,而PD控制器的最大绝对误差为12.3°,证明了CT+PD轨迹跟踪控制对磁流变假肢膝关节轨迹跟踪的有效性。The magnetorheological damper-based prosthetic knee has the advantage of continuous tunable damping force as the magnetorheological damper is applied as the braking device in the system.But how to make it a good imitation by nature is an important factor that limiting its commercial development.Based on the gait data of healthy people walking on the ground,the dynamic model of the proposed magnetorheological damper-based prosthetic knee in the swing phase was established.The Computing Torque plus Proportional Derivative(CT+PD)trajectory tracking control algorithm was proposed to control the swing angle of the shank and its stability was analyzed.The control system was established and the PD controller was compared to the CT+PD controller.The simulation results show that the maximum absolute error of the CT+PD controller is 4.6°,while that of PD controller is 12.3°,which indicate that the CT+PD trajectory tracking control is effective for the trajectory tracking.

关 键 词：磁流变假肢膝关节 CT+PD控制 磁流变阻尼器 动力学模型 

分 类 号：U463.33[机械工程—车辆工程]