Double source feature fusion ant colony tuning method for PID (Proportion Integration Differention) parameter in functional electro-stimulation

Abstract

The invention relates to the instrument field for limbs rehabilitation by electronic impulse stimulation. The invention adopts the following technical scheme to control the current strength of an FES (Functional Electro-Simulation) system in real time accurately and stably so as to improve the accuracy and the stability of the FES system. A double source feature fusion ant colony tuning method for PID (Proportion Integration Differention) parameter in functional electro-stimulation comprises steps as follow: first, forecasting knee joint angle by a muscle model HRV in the processes of assisted walking; then, tuning the PID parameter through an ant colony optimization and adjusting current strength of the FES system in real time; controlling the PID parameter through ant colony optimization and keeping the optimization process till anticipatory goal is achieved; calculating system output and difference between the muscle model HRV with new PID parameter and then entering the step of self-learning of the ant colony optimization and self-regulating of weighting coefficient; repeating the former step for self-adapting on-line tuning of PID control parameter and using the tuned PID control parameter in the FES system. This invention is mainly applied for tuning PID parameter.

Description

technical field [0001] The invention relates to the field of equipment for limb rehabilitation by electrical pulse stimulation, in particular to a dual-source feature fusion ant colony tuning method for PID parameters in functional electrical stimulation. Background technique [0002] Functional Electrical Stimulation (FES) is a technology that stimulates limb motor muscles and peripheral nerves through current pulse sequences to effectively restore or reconstruct part of the motor function of paraplegic patients. According to statistics, due to the weak regeneration ability of the spinal cord, there is currently no effective treatment method that can directly repair the injury for paralyzed patients with spinal cord injury. The implementation of functional rehabilitation training is an effective measure. The number of paralyzed patients with spinal cord injury is increasing year by year, and functional rehabilitation training is an urgently needed technology. In the 1960s,...

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Problems solved by technology

According to statistics, there is still little research on the trigger control of FES at present, and according to the deviation between the effect and the predetermined action, the closed-loop control is used to automatically adjust the FES stimulation intensity and timing parameters, thereby greatly improving the accuracy and stability of the FES system. Effective control methods are still being explored

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