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Iterative learning control method for rehabilitation mechanical device based on extended state observer

It is an iterative learning control and mechanical device technology. It is applied in the control of using feedback, gymnastics equipment, and adaptive control. It can solve the problems of high displacement control accuracy, user discomfort, and inability to guarantee the recovery effect.

Active Publication Date: 2020-12-11
BEIHANG UNIV
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  • Application Information

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Problems solved by technology

[0003] At present, the limitation of the traditional iterative learning control method is that it cannot maintain a high displacement control accuracy at all times, and the control effect is greatly affected by external disturbances.
If there is sudden interference during the rehabilitation training process, the rehabilitation effect cannot be guaranteed, and in severe cases, it will cause discomfort to the user

Method used

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  • Iterative learning control method for rehabilitation mechanical device based on extended state observer
  • Iterative learning control method for rehabilitation mechanical device based on extended state observer
  • Iterative learning control method for rehabilitation mechanical device based on extended state observer

Examples

Experimental program
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Effect test

Embodiment 1

[0069] Step 1: Mathematically abstract the rehabilitation mechanical device and establish a linear model of the rehabilitation mechanical device.

[0070] The rehabilitation mechanical device is mathematically abstracted, and the linearized model of the rehabilitation mechanical device is established as follows:

[0071]

[0072] Among them, t∈{0,…,N} represents the sampling time, N is a positive integer, Indicates the number of iterations to run, x k (t) represents the internal state of the rehabilitation mechanical device at time t when k iterations are running, x k (t+1) represents the internal state of the rehabilitation mechanism at time t+1 when k iterations are running, u k (t) represents the control voltage data at time t when the rehabilitation mechanical device runs for k iterations, y k (t) represents the output displacement data at time t when the rehabilitation mechanical device runs for k iterations, w k (t) represents the internal disturbance at time t w...

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Abstract

The invention discloses an iterative learning control method for a rehabilitation mechanical device based on an extended state observer, and the method comprises the steps: designing the extended state observer, and carrying out the reconstruction of the total interference of the rehabilitation mechanical device through the control voltage data and output displacement data in an iterative operation process of the rehabilitation mechanical device; obtaining a total interference estimation value of the rehabilitation mechanical device; and designing an iterative learning controller based on an extended state observer by utilizing the obtained total interference estimation value, and repeatedly controlling the rehabilitation mechanical device by utilizing the total interference estimation value through the iterative learning controller to counteract the influence of actual interference, so that the rehabilitation mechanical device obtains the interference resistance, and the rehabilitation effect is improved. And meanwhile, accurate tracking of a rehabilitation mechanical device on an expected track is realized. According to the iterative learning control method of the rehabilitationmechanical device, multi-path simultaneous control can be achieved, training of different degrees and different requirements can be conducted on multiple parts of a user at the same time, and the recovery speed of the user can be increased by flexibly setting rehabilitation training content.

Description

technical field [0001] The invention relates to the technical field of iterative learning control, in particular to an iterative learning control method for a rehabilitation mechanical device based on an extended state observer. Background technique [0002] Rehabilitation mechanical devices have received extensive research and attention in recent years. The main function of the rehabilitation mechanical device is to assist the user in the rehabilitation training of finger flexion and extension. The purpose is to reduce the functional atrophy of the motor nervous system in the user's brain through training and treatment for a certain time and intensity, and then realize the repair of the user's motor nerve. , to restore body motor function. In actual operation, in order to achieve the effect of training and recovery, the rehabilitation mechanical device needs to help the user complete multiple specific rehabilitation training actions, that is, during the rehabilitation trai...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D3/12A61H1/02A63B23/16A63B24/00
CPCA61H1/0288A61H2201/5007A63B23/16A63B24/0087G05B13/0265G05B13/045G05D3/12
Inventor 孟德元郭紫荣
Owner BEIHANG UNIV
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