基于改进SSA优化PID的下肢康复机器人控制  

Lower limb rehabilitation robot control based on PID optimized by ISSA

作　　者：张稚荷 周凯红[1] 朱梦岩 ZHANG Zhihe;ZHOU Kaihong;ZHU Mengyan(College of Mechanical and Control Engineering,Guilin University of Technology,Guilin 541006,China)

机构地区：[1]桂林理工大学机械与控制工程学院,广西桂林541006

出　　处：《现代电子技术》2024年第13期153-159,共7页Modern Electronics Technique

基　　金：国家自然科学基金面上项目(52075110);广西自然科学基金重点项目(2023GXNSFDA026045)。

摘　　要：针对下肢康复机器人训练过程中步态跟踪误差大的问题,提出一种改进麻雀搜索算法(ISSA)优化PID的控制策略。首先,利用拉格朗日方程对下肢机器人进行动力学分析,得到动力学模型;然后,通过引入Kent映射混沌初始化种群、Tent混沌扰动和柯西变异扰动,以及改变探索者-跟随者比例系数和探索者位置更新公式等方面对麻雀搜索算法进行改进,通过8种测试函数证实了算法改进的有效性;最后,在Matlab/Simulink中建立下肢机器人PID控制器和ISSA-PID控制器系统的仿真模型,以正常人体步态数据进行拟合得到的函数曲线作为系统实际输入进行跟踪实验。结果表明:相比于传统PID控制,ISSA-PID控制髋关节和膝关节的误差分别降低了63.3%和72.5%,实现了精准的步态跟踪,验证了该控制策略的有效性。s:In view of the large error of gait tracking during the training process of the lower limb rehabilitation robot,a control strategy based on PID optimized by improved sparrow search algorithm(ISSA)is proposed.The dynamics analysis of the lower limb robot is carried out by the Lagrange equation to obtain the dynamics model.The sparrow search algorithm(SSA)is improved by introducing Kent mapping chaotic initialization population,Tent chaotic perturbation and Cauchy variational perturbation,and changing the explorer-follower ratio coefficients and the explorer position updating formulae.The effectiveness of the algorithm improvement is confirmed by eight test functions.The simulation model of lower limb robot PID controller and ISSA-PID controller system are established in Matlab/Simulink,and the function curves obtained by fitting normal human gait data are used as the actual inputs of the system for tracking experiments.The results show that the error of ISSA-PID control of hip joints and the knee joints reduces by 63.3%and 72.5%,respectively,in comparison with the traditional PID control,which achieves accurate gait tracking.It is verified that the proposed control strategy is of effectiveness.

关 键 词：下肢康复机器人 麻雀搜索算法 优化算法 测试函数 步态数据 PID控制 MATLAB/SIMULINK 

分 类 号：TN919-34[电子电信—通信与信息系统] TP242[电子电信—信息与通信工程]