【作者】 梁丰；

【导师】 谭冠政；

【作者基本信息】 中南大学 ， 控制理论与控制工程， 2003， 硕士

【摘要】 智能人工腿是机器人学和生物医学工程学领域一个备受关注的研究课题，它最优秀的特点是能模仿人体健康腿的运动方式且步行速度可自然、随意地跟随截肢者步行速度的变化而变化。开展该项目的研究对改善残疾人的生存条件和促进其医疗福利事业的发展具有重要的现实意义。 智能人工腿的摆动靠空压气缸的伸缩来实现，空压气缸尾部的电机可以控制气缸内一个针阀(流量控制阀)的开度，通过改变阀门开度可以调节膝关节弯曲和伸展的阻尼，从而达到改变膝关节弯曲和伸展速度的目的。以前研制的智能人工腿，在两个方面存在不足，一方面它的控制器控制气缸内针阀开度采用步进电机所构成的开环系统，位置精度不高；另一方面它的CPU多采用51系列的单片机，运行速度不能满足高级算法的需要。针对这两方面的不足，我们提出以下改进方案： (1)．改步进电机为伺服直流电机，使它能在大范围内实现精密的位置控制。 (2)．设计了一个具有位置和电流反馈的闭环控制系统，并采用遗传算法对PID参数进行优化，同时引入模糊控制理论使PID参数可进行在线整定。通过控制策略的改进来提高智能人工腿步态调整的快速性和准确性。 (3)．智能控制器的CPU采用TI公司生产的DSP芯片TMS320F240PQ，它是专用电机控制芯片，集成度高，运行速度比51系列单片机快数十倍并具有强大的指令集，可实现高级算法的在线运算。 通过控制器硬件的设计、制作，软件的编写、调试以及实验，结果表明，本文所提出的智能人工腿智能控制器提高了控制系统的智能性、鲁棒性、快速性和准确性。更多还原

【Abstract】 Intelligent artificial leg has been an interesting research project in the fields of robotics and biomedical engineering, its most excellent characteristics is that it can imitate the movement ways of human healthy legs and its walking speed can change naturally with the change of amputee’s walking speed. The research on this project is of practical significance to improving the living situation and welfare benefits of amputees.Intelligent artificial leg swing to rely on flexible realization of pneumatics cylinder. The motor of pneumatics cylinder tail can control the open degree of a needle in cylinder (flow control valve) .Through changing the open degree of valve, knee joint bend and extend damping is changed and get the speed we needed. Intelligent artificail legs developed before have shortages in twe aspects.On the one hand, its controller,which is used to control the open degree of needle of pneumatics cylinder in these legs, is an open-loop system composed of a stepping motor,and has low position precision. On the other hand, it’s CPU much adopting is the singlechip machine of 51 serieses, which running speed can not satisfy the needs of advanced algorithm. Aim at the twe shortages,we make following improving scheme:(l).Using servo DC to replace stepping motor, make it realize accurate location control in big scope.(2).Have designed a closed-loop control system with location and current feedback and carry out optimization with GA for PID parameter, at the same time, lead into fuzzy control theory to make PID parameter to be decided on-line.The improvement of control strategy raises the respondspeed and accuracy of gait adjustment of intelligent artificial leg.(3).The CPU of intelligent controller adopts the DSP chip TMS320F240PQ of TI company’ production.The IC is designed for motor control and its integrated degree is high and its running speed is tens times of that of singlechip machine of 51 series and has powerful instructin set.It is easy to complete the on-line operation of advanced algorithm.Pass through produce and the design of controller hardware, software compile, debug as well as test , the results indicate that the intelligent artificial leg’intelligent controller proposed here raises the intelligent behavior, robustness, response speed and accuracy of the control system.更多还原