3-SPS/S踝关节康复机构模糊自适应控制系统仿真  

Simulation of fuzzy adaptive control system for 3-SPS/S ankle joint rehabilitation mechanism

作　　者：王海芳 陈晓波 焦龙 张瑶 李新庆 朱亚锟 WANG Haifang;CHEN Xiaobo;JIAO Long;ZHANG Yao;LI Xinqing;ZHU Yakun(School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,Hebei,China)

机构地区：[1]东北大学秦皇岛分校控制工程学院,河北秦皇岛066004

出　　处：《中国工程机械学报》2021年第3期238-243,249,共7页Chinese Journal of Construction Machinery

基　　金：国家自然科学基金资助项目(61703079);秦皇岛市大学生科技创新创业专项基金资助(2018-79,121)。

摘　　要：根据踝关节的结构特点以及当前对踝关节康复机构的研究,搭建了基于3-SPS/S的踝关节并联康复机构。针对3-SPS/S踝关节并联康复机构难以实现高精度及快速响应的问题,提出了一种基于模糊自适应PID控制的控制方法,提高控制系统的精度。首先利用SolidWorks将3-SPS/S踝关节并联康复机构三维模型转换为SimMechanics可视化机构模型;然后将模糊推理系统与传统PID相结合,完成模糊自适应PID控制器的设计;最后在Matlab的Simulink模块中进行仿真,并对传统PID控制和模糊自适应PID控制的仿真进行分析。仿真结果表明:模糊自适应PID控制能满足踝关节并联康复机构的设计要求,同时有效地提高了踝关节并联康复机构的控制精度和动态响应特性。According to the structural characteristics of the ankle joint and the current research on the ankle joint rehabilitation mechanism,a 3-SPS/S-based ankle joint parallel rehabilitation mechanism was established.Aiming at the problem that 3-SPS/S ankle joint parallel rehabilitation mechanism is difficult to achieve high precision and fast response,a fuzzy adaptive PID control based control method is proposed to improve the accuracy of the control system.Firstly,the 3 D model of 3-SPS/S ankle joint rehabilitation mechanism was converted into SimMechanics visualization mechanism model by SolidWorks.Then the fuzzy inference system was combined with the traditional PID to complete the design of fuzzy adaptive PID controller.Finally,the Simulink module in Matlab was completed.The simulation is carried out,and the simulation of traditional PID control and fuzzy adaptive PID control is analyzed.The simulation results show that the fuzzy adaptive PID control can meet the design requirements of the ankle joint parallel rehabilitation mechanism,and effectively improve the control precision and dynamic response characteristics of the ankle joint parallel rehabilitation mechanism.

关 键 词：并联机构 模糊自适应PID控制 SIMMECHANICS 康复 踝关节 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]