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Active above-knee prosthesis terminal sliding mode control method based on disturbance observer

A technology of interference observer and terminal sliding mode, applied in prosthesis, medical science, etc., can solve the problems of poor control effect and inability to adjust real-time control signals

Inactive Publication Date: 2017-07-28
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The control methods in the above two schemes cannot adjust the real-time control signal. Once the system is disturbed due to various reasons, the control effect will be deteriorated.

Method used

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  • Active above-knee prosthesis terminal sliding mode control method based on disturbance observer
  • Active above-knee prosthesis terminal sliding mode control method based on disturbance observer
  • Active above-knee prosthesis terminal sliding mode control method based on disturbance observer

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0152] Take the sliding mode coefficient c=0.1, and the disturbance observer coefficient k 1 =1000,k 2 = 20, the convergence time T = 1s to carry out the simulation control on level ground walking. Figure 4 (a) is the control effect of the terminal sliding mode controller when walking on flat ground. It can be seen from the figure that the terminal sliding mode controller has a good control effect when walking on flat ground, and can quickly and accurately track the angle of normal people when walking curve. Figure 4 (b) is the comparison between the estimated value of the disturbance observer and the actual value when walking on flat ground, Figure 4 (c) is the error curve of the disturbance observer. It can be seen that the estimated value of the disturbance observer is very close to the actual value, and the error of the two is between -0.04N·m / kg~0.04N·m / kg , the actual value is very small, within the allowable range of error.

Embodiment 2

[0154] Take the sliding mode coefficient c=0.1, and the disturbance observer coefficient k 1 =800,k 2 =15, input the angles of the hip joint, knee joint and ankle joint when going up the stairs, and carry out simulation verification on the process of going up the stairs, the results are as follows Figure 5 (a), Figure 5 (b), Figure 5 As shown in (c), it can be seen that the disturbance observer can effectively observe the disturbance, and the terminal sliding mode controller can quickly and accurately track the angle curve of a normal person walking.

Embodiment 3

[0156] Take the sliding mode coefficient c=0.1, and the disturbance observer coefficient k 1 =800,k 2 =20, input the angles of the hip joint, knee joint and ankle joint when going down the stairs, and simulate and verify the process of going down the stairs, the results are as follows Figure 6 (a), Figure 6 (b), Figure 6 As shown in (c), it can be seen that the disturbance observer can effectively observe the disturbance, and the terminal sliding mode controller can quickly and accurately track the angle curve of a normal person walking.

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Abstract

The invention discloses an active above-knee prosthesis terminal sliding mode control method based on a disturbance observer. The method includes the steps that basic information data of a patient is collected in an off-line mode, and a data report is generated; on the premise of not changing the basic structure and the interaction mode, the lower limbs of the human body are simplified into a two-link model to be analyzed, the lower limb kinetic model of the supporting period and the swing period is obtained aiming at the difference between the swing period and supporting period motion form in the human body walking process; the disturbance observer and a terminal sliding mode controller are designed for the lower limb kinetic model. The sliding mode variable structure control theory is introduced into control over active above-knee prosthesis, while advantages of disturbance resisting capacity and quick response of traditional sliding mode control are reserved, the buffeting degree of controlled quantity is weakened, and the tracking errors of a model system can be converged to zero within limited time. The method has the advantages of being high in control accuracy, high in disturbance resisting capacity and good in timeliness.

Description

technical field [0001] The invention relates to the field of active above-the-knee prostheses, and relates to a terminal sliding mode control method for active above-the-knee prostheses based on an interference observer. Background technique [0002] As we all know, my country is the most populous country in the world. With such a huge population base, the number of disabled people is also very large. The Chinese government conducted two national sample surveys on disabled persons in 1987 and 2006. The results showed that the number of physically disabled persons increased from 7.55 million in 1987 to 24.12 million in 2006. In 2010, according to the results of the sixth national census and the second national sample survey of disabled people, China Disabled Persons Association calculated that by the end of 2010, 24.72 million people with physical disabilities in my country would reach 24.72 million. Traffic accidents and natural disasters occur frequently, and this number is...

Claims

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Application Information

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IPC IPC(8): A61F2/70
CPCA61F2/68A61F2002/704
Inventor 张燕赵会民李雪菲李威郜鑫
Owner HEBEI UNIV OF TECH
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