基于模糊PID控制的柔性下肢助力外骨骼  

Flexible Lower Limb Assisted Exoskeleton Based on Fuzzy PID Control

作　　者：王宇[1] 李健[1] 梁鹏[1] 王维衡 谢国安 李彦君 WANG Yu;LI Jian;LIANG Peng;WANG Weiheng;XIE Guoan;LI Yanjun(School of Mechanical and Automotive Engineering,Guangxi University of Science and Technology,Liuzhou 545616,China)

机构地区：[1]广西科技大学机械与汽车工程学院,广西柳州545616

出　　处：《机械工程师》2024年第7期38-42,共5页Mechanical Engineer

基　　金：国家自然科学基金项目(81960332);广西高校中青年教师科研基础能力提升项目(2023KY0353);广西科技基地和人才专项(2022AC21106)。

摘　　要：为给老年人在行走时提供辅助力,设计了一种对人体下肢髋关节和膝关节提供助力的柔性外骨骼,针对直流电动机进行了动力学建模,利用模糊自适应PID控制算法对柔性外骨骼进行控制。通过Simulink仿真分析得出,模糊自适应PID控制算法能够有效地跟踪电动机的期望轨迹曲线。与传统PID控制算法对比,模糊自适应PID算法能有效地抑制外界环境因素对系统的干扰,适应性较强。A flexible exoskeleton that provides assistance to the hip and knee joints of human lower limbs is designed to provide assistance to the elderly during walking,and the dynamics of the DC motor is modeled.The flexible exoskeleton is controlled using a fuzzy adaptive PID control algorithm.The Simulink simulation analysis shows that the fuzzy adaptive PID control algorithm can effectively track the desired trajectory curve of the motor.Compared with the traditional PID control algorithm,the fuzzy adaptive PID algorithm can effectively suppress the interference of external environmental factors on the system and is more adaptable.

关 键 词：柔性外骨骼 直流电动机 动力学建模 PID控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]