| 气动肌肉驱动的髋关节康复训练装置隐式广义预测控制 |
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| 引用本文： | 何凡,李笑,夏虹,关婷.气动肌肉驱动的髋关节康复训练装置隐式广义预测控制[J].机床与液压,2011(17). |
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| 作者姓名： | 何凡 李笑 夏虹 关婷 |
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| 作者单位： | 广东工业大学机电工程学院;广州军区广州总医院; |
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| 基金项目： | 广东省科技计划项目(2006B12901008) |
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| 摘 要： | 针对气动肌肉驱动的髋关节康复训练装置存在时延、非线性和时变特性,设计基于参数模型的隐式广义预测控制器,并将其应用于髋关节康复训练装置的等速持续被动运动控制中。实验研究表明:在负载干扰变化下,隐式广义预测控制器具有控制精度高、抗干扰能力强等特点,同时对系统模型参数的变化有较好的适应能力,对提高类似医疗器械的控制性能有借鉴意义。
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| 关 键 词： | 气动肌肉 隐式广义预测控制器 等速持续被动运动 髋关节 |
Implicit Generalized Predictive Control of Hip-joint Rehabilitation Training Device Driven by Pneumatic Muscle Actuator |
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| HE Fan,LI Xiao,XIA Hong,GUAN Ting.Implicit Generalized Predictive Control of Hip-joint Rehabilitation Training Device Driven by Pneumatic Muscle Actuator[J].Machine Tool & Hydraulics,2011(17). |
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| Authors: | HE Fan LI Xiao XIA Hong GUAN Ting |
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| Affiliation: | HE Fan1,LI Xiao1,XIA Hong2,GUAN Ting2(1.Faculty of Electromechanical Engineering,Guangdong University of Technology,Guangzhou Guangdong 510006,China,2.Guangzhou General Hospital of Guangzhou Military Command,Guangzhou Guangdong 510010,China) |
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| Abstract: | To slove the problem of the delay,nonlinear and time-variable characteristics of hip-joint rehabilitation training device driven by pneumatic muscle actuator,a implicit generalized predictive controller was designed based on parameter model.It was applied to the isokinetic continuous passive motion control of the hip-joint rehabilitation training device.The experimental results prove that the controller has the property of high control accuracy,anti-disturbance capability and excellent adaptive abilities fo... |
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| Keywords: | Pneumatic muscle actuator Implicit generalize predictive controller Isokinetic continuous passive motion Hip-joint |
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