基于线性二次型调节器与比例积分微分控制的步态轨迹跟踪研究与优化  

Research and Optimization of Gait Trajectory Tracking Based on Linear Quadratic Regulator and Proportional-Integral-Derivative Control

作　　者：汪航 邹任玲[1] 王佳庆 张书扬 关晨露 胡秀枋[1] 李丹[1] 尹学志 

机构地区：[1]上海理工大学健康科学与工程学院,上海 [2]上海贝瑞电子科技有限公司,上海

出　　处：《建模与仿真》2023年第5期4577-4587,共11页Modeling and Simulation

摘　　要：老龄化或疾病导致下肢功能障碍的患者逐渐增多,传统的康复方式存在一定局限性,因此下肢康复机器人成为当前康复技术主流领域。为了在下肢康复设备轨迹追踪性能良好的同时保证患者使用时的安全性,本文设计了一种将线性二次型调节器(LQR)与比例积分微分(PID)控制相结合的控制算法。首先利用运动捕捉设备采集正常步态轨迹,然后在已搭建的足底驱动式踏板步态训练设备中,对步进伺服控制系统采用位置环–速度环–电流环三闭环的PID控制。求得系统数学模型后,使用LQR算法优化PID控制器各环反馈系数,然后将控制器部署至装置中,并进行了实验验证。实验验证了控制器的可行性与有效性,提升了康复设备追踪步态轨迹的性能。The number of patients with lower limb dysfunction caused by aging or disease is gradually in-creasing. Traditional rehabilitation methods have limitations. Therefore, lower limb rehabilitation robots have become the mainstream field of current rehabilitation technology. In order to ensure the safety of patients while ensuring the good trajectory tracking performance of lower limb reha-bilitation equipment, a control algorithm combining linear-quadratic-regulator (LQR) and propor-tional-integral-differential (PID) control is designed in this paper. Firstly, the normal gait trajectory is collected by using the motion capture device. Then, in the established foot-driven pedal gait training equipment, the step servo control system adopts the three closed-loop PID controls of posi-tion loop, speed loop and current loop. After obtaining the mathematical model of the system, the LQR algorithm is used to optimize the feedback coefficients of each loop of the PID controller, and then the controller is deployed to the device, and the experimental verification is carried out. The experiment verifies the feasibility and effectiveness of the controller and improves the performance of the rehabilitation equipment to track the gait trajectory.

关 键 词：下肢康复 比例积分微分控制器 线性二次型调节器 三闭环控制 步态轨迹 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]