下肢康复外骨骼机器人模糊PID控制研究与仿真

下肢康复外骨骼机器人具有多输入多输出的结构，且不确定性与非线性都很高，经典PID控制已经不能很好地进行精确控制。结合经典PID控制与模糊控制，并加入了开关结构，最终采用开关式模糊PID控制来对机器人进行控制研究。使用ADAMS（Automatic Dynamic Analysis of Mechanical Systems）建立机器人模型，在Matlab/Simulink中建立控制图。驱动输入采用正常人体步态行走时的力矩信息，通过两个软件的联合仿真，得到跟随曲线与目标曲线的对比图及误差图。结果表明，开关式模糊PID控制具有良好的精度且响应速度较快。

Research and Simulation of Fuzzy PID Control for Lower Limb Rehabilitation Exoskeleton Robot

The lower limb rehabilitation exoskeleton robot has a multi-input and multi-output structure with high uncertainty and nonlinearity.Therefore,the classical PID control has been unable to carry out accurate control.Combined the classical PID control with fuzzy control,and added the switching structure,the switching fuzzy PID control was finally used to study the control of the robot.The robot model was built by using ADAMS(Automatic Dynamics Analysis of Mechanical Systems) and controlled by Matlab/Simulink software.The moment information of the normal human gait walking was used as driving input,and the comparison graph and the error graph between the following curve and the target curve were obtained through the joint simulation of these two softwares.The results show that the switch-type fuzzy PID control has high accuracy and fast response speed.