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Iterative Learning Control Method for Rehabilitation Mechanism Based on Extended State Observer

It is an iterative learning control and mechanical device technology, which is applied in the control of using feedback, gymnastics equipment, adaptive control, etc. It can solve the problems of high displacement control accuracy, user discomfort, and large influence of control effect interference, and achieve accurate tracking. , the effect of faster recovery, fast and precise position control

Active Publication Date: 2021-09-21
BEIHANG UNIV
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  • Claims
  • Application Information

AI Technical Summary

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 Mechanism Based on Extended State Observer
  • Iterative Learning Control Method for Rehabilitation Mechanism Based on Extended State Observer
  • Iterative Learning Control Method for Rehabilitation Mechanism Based on Extended State Observer

Examples

Experimental program
Comparison scheme
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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. By designing an extended state observer, the control voltage data and output displacement data in the iterative operation process of the rehabilitation mechanical device are used to monitor the total disturbance of the rehabilitation mechanical device. Refactoring to obtain the estimated value of the total disturbance of the rehabilitation mechanism; use the obtained total disturbance estimate to design an iterative learning controller based on an extended state observer, and use the total disturbance estimate to repeatedly control the rehabilitation mechanism through an iterative learning controller to offset The influence of actual disturbance enables the rehabilitation mechanical device to obtain interference resistance, and at the same time realizes the precise tracking of the expected trajectory of the rehabilitation mechanical device. The iterative learning control method of the above-mentioned rehabilitation mechanical device provided by the present invention can also realize multi-channel simultaneous control, and can simultaneously perform training on multiple parts of the user with different degrees and different requirements. By flexibly setting the rehabilitation training content, the recovery of the user can be accelerated speed.

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 Patents(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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