手指康复外骨骼的变论域模糊PID控制研究  

Research on variable universe fuzzy PID control of finger rehabilitation exoskeleton

作　　者：宋栓军[1] 曹佳豪 郭晓虎 SONG Shuanjun;CAO Jiahao;GUO Xiaohu(School of Mechanical and Electrical Engineering,Xi’an Polytechnic University,Xi’an 710600,China)

机构地区：[1]西安工程大学机电工程学院,陕西西安710600

出　　处：《传感器与微系统》2025年第4期31-34,39,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金青年科学基金资助项目(61701384);西安市科技计划先进制造业技术攻关项目(21XJZZ0016);陕西省重点研发计划项目(2023-YBGY-349)。

摘　　要：针对手指脆弱易受伤的特点,设计一种用于手指康复的外骨骼装置,并提出变论域模糊PID控制策略,以实现人机交互力变化时的快速调节功能。首先,根据外骨骼装置建立系统的动力学方程;其次,通过引入一组非线性伸缩因子改进传统模糊PID,根据输入输出关系实现论域范围的自整定;最后,通过仿真和实验分析了所提出的控制策略的优越性。结果表明,在3种控制器中,变论域模糊PID控制的响应速度更快,调节能力更强,稳态误差更低。当系统受到未知的非线性外在干扰时,变论域模糊PID控制器可以有效抑制大部分干扰,控制精度在0.3%以内,适用于手指康复治疗。Aiming at the vulnerable characteristics of fingers,an exoskeleton manipulator is designed for finger rehabilitation,and a variable universe fuzzy PID control strategy is proposed to realize the rapid adjustment function when the human-computer interaction force changes.Firstly,the dynamic equation of the system is established according to the manipulator device.Secondly,the traditional fuzzy PID is improved by introducing a set of nonlinear scaling factors,and the self-tuning of the theoretical domain is realized according to the input-output relationship.Finally,the superiority of the proposed control strategy is analyzed through simulation and experiment.The results show that the variable universe fuzzy PID control has faster response speed,strongerʍadjustment ability and lower steady-state error among the three controllers.When the system is subjected to unknown nonlinear external interference,the variable universe fuzzy PID controller can effectively suppress most of the interference,and the control precision is less than 0.3%,which is suitable for finger rehabilitation.

关 键 词：手指康复 外骨骼机械手 动力学建模 伸缩因子 变论域模糊PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]