[1]潘礼正,宋爱国,段锁林,等.基于二端口网络模型的PI-阻尼控制研究[J].常州大学学报(自然科学版),2015,(04):53-58.[doi:10.3969/j.issn.2095-0411.2015.04.010]
　PAN Lizheng,SONG Aiguo,et al.Research on the PI-Damping Control Based on the 2-Port Circuit Model[J].Journal of Changzhou University(Natural Science Edition),2015,(04):53-58.[doi:10.3969/j.issn.2095-0411.2015.04.010]
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基于二端口网络模型的PI-阻尼控制研究()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
期数:
2015年04期
页码:
53-58
栏目:
出版日期:
2015-11-15

文章信息/Info

Title:
Research on the PI-Damping Control Based on the 2-Port Circuit Model
作者:
潘礼正1; 2; 宋爱国2; 段锁林1; 徐宝国2
1. 常州大学 机械工程学院,江苏 常州 213164; 2. 东南大学 远程测控技术江苏省重点实验室,江苏 南京 210096
Author(s):
PAN Lizheng1;  2;  SONG Aiguo2;  DUAN Suolin1;  XU Baoguo2
1.School of Mechanical Engineering,Changzhou University,Changzhou 213164,China; 2.Jiangsu Province Key Laboratory of Remote Measurement and Control,Southeast University,Nanjing 210096,China
关键词:
康复机器人;  训练运动;  二端口网络;  PI-阻尼控制
Keywords:
rehabilitation robot;  training motion;  2-port circuit;  PI-damping control
分类号:
TP 242
DOI:
10.3969/j.issn.2095-0411.2015.04.010
文献标志码:
A
摘要:
针对临床康复训练运动平稳平滑特性要求,在传统的PI控制基础上,提出了PI-阻尼控制器设计方法。根据机器人和患肢的动力学模型,结合PI-阻尼控制设计架构,通过建立二端口网络模型,从理论上对PI-阻尼控制的稳定性和平滑性进行了证明。通过2名健康受试者,在构建的WAM康复训练系统上进行了非平稳运动实验研究。实验结果表明,PI-阻尼控制较传统的PI控制具有更好的运动控制性能,能够很好地应对外界突发扰动,有效实现稳定平滑的训练运动。
Abstract:
A PI-dumping controller design method based on the traditional PI controller is proposed to meet the special requirements on the stability and smoothness of the clinically rehabilitation training. According to the dynamic models of the robot and the impaired limb, combined with the designed PI-damping controller, the stability and smoothness of the PI-damping control are proved in theroy using 2-port circuit model. The experiments of non-stationary training exercises with two helthy subjects are investigated on the WAM rehabilitation training system. The experimental results indicate that the PI-damping control has better motion performances than the PI control in dealing with sudden disturbance and serving with stable and smooth training exercises.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2015-03-13。基金项目:国家自然科学基金资助项目(61325018); 江苏省高校自然科学基金资助项目(14KJB510002); 常州大学人才引进基金资助项目(ZMF13020048)。作者简介:潘礼正(1979—),男,安徽无为人,博士,讲师,主要从事康复机器人研究。
更新日期/Last Update: 2015-10-20