液压与气动2023，Vol.47Issue(12)：49-54,6.DOI:10.11832/j.issn.1000-4858.2023.12.007
气液上肢外骨骼系统分数阶建模及控制方法
Fractional Order Modeling and Control Method for Pneumatic-hydraulic Upper Limb Exoskeleton System
摘要
Abstract
To achieve the rehabilitation movement of the human upper limbs,research is conducted on the upper limb exoskeleton system based on pneumatic-hydraulic parallel drive.The fractional order mathematical model of pneumatic-hydraulic upper limb exoskeleton system is established by replacing the traditional integer order mass flow equation with the fractional order mass flow equation.To improve the control accuracy of the system,the fractional order 2DOF PID controller is designed.The grey wolf optimization(GWO)algorithm is adopted to solve the optimization problem of multiple control parameters in control system.To verify the effectiveness of the proposed control method,the experimental researches are conducted by constructing the pneumatic-hydraulic upper limb exoskeleton experimental platform.The effectiveness of fractional order PID controller and GWO parameter optimization algorithm is verified by typical signal tracking control experiments.Experimental comparative studies are shown that the fractional order 2 DOF PID control algorithm outperforms the integer order PID control algorithm in terms of smaller overshoot and higher accuracy.Compared with the particle swarm optimization(PSO)algorithm,system with GWO algorithm has better response performance.关键词
气液驱动/上肢外骨骼/分数阶建模/分数阶PID控制/灰狼优化算法Key words
pneumatic-hydraulic drive/upper limb exoskeleton/fractional order modeling/fractional order PID control/grey wolf optimization algorithm分类
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王洪艳,郝晓红,杨婧,蒋丹,黄智..气液上肢外骨骼系统分数阶建模及控制方法[J].液压与气动,2023,47(12):49-54,6.基金项目
国家自然科学基金联合基金(U22B2081) （U22B2081）
四川省科技计划(2022NSFSC0962) （2022NSFSC0962）
