足踝生物力学动态仿真实验台的多轴运动和力协同控制系统

发布时间：2018-05-14 10:12

本文选题：步态模拟器 + 力控制　；参考：《医用生物力学》2014年04期

【摘要】：目的研究足踝生物力学动态仿真实验台的控制问题,提出一套完整的多轴控制算法使实验台在模拟自由度、时间和精度、负荷重量、调试效率等指标上与国际同行相比具有竞争力。方法设计人体足踝步态实验台,通过5个伺服电机驱动的机构模拟步态的运动过程(5个自由度)。基于对整个步态过程中力加载的科学分析和合理简化,在Matlab中对此多自由度力加载的过程进行建模。提出运用PID迭代学习算法来控制力,并在Simulink中进行仿真分析。基于仿真的参数,在实际搭建的系统上验证该算法的有效性与可靠性。结果经过4~5次的迭代学习,实验台可以在5 s时间内完成1个支撑相的模拟,3个方向的足底反力(Fz、Fy、Fx)都具有重复性和可控性,在50%的人体体重下Fz和Fy输出曲线与目标曲线的均方根误差分别收敛到20 N和8 N,小于模拟负载的10%。结论迭代学习控制方法可使足踝步态模拟实验台具有较强的力学模拟能力,提高了实验台的智能性,为后续进一步提高模拟速度和精度奠定良好的基础,其研制对尸体足踝生物力学实验具有重要意义。
[Abstract]:Objective to study the control problem of the biomechanical dynamic simulation test bench for foot and ankle. A set of complete multi axis control algorithm is proposed to make the test platform competitive compared with the international counterparts in the simulation of freedom, time and precision, load weight and debugging efficiency. Method design of human foot ankle gait test platform is driven by 5 servo motors. The motion process (5 degrees of freedom) of the mechanism is simulated. Based on the scientific analysis and reasonable simplification of the force loading in the whole gait process, the process of loading the multi freedom force is modeled in Matlab. The PID iterative learning algorithm is used to control the force, and the simulation analysis is carried out in the Simulink. Based on the simulation parameters, the actual construction is built. The effectiveness and reliability of the algorithm is verified by the system. Results after 4~5 iterative learning, the experimental platform can simulate 1 support phases in 5 s time. The 3 directions of the sole reaction (Fz, Fy, Fx) have repeatability and controllability, and the root mean square error of the Fz and Fy output curves and the target curve under the body weight of 50% converges respectively. To 20 N and 8 N, the 10%. conclusion iterative learning control method which is less than the simulated load can make the ankle gait simulation test bench have strong mechanical simulation ability, improve the intelligence of the test bed and lay a good foundation for the further improvement of the simulation speed and accuracy, and its development is of great significance to the biomechanical experiment of the cadaver foot and ankle.

【作者单位】：上海交通大学机械与动力工程学院;Centre
【基金】：国家自然科学基金资助项目(81071234)
【分类号】：R318.01

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