Rehabilitation mechanical device iterative learning control method and system based on disturbance observer

Abstract

The invention belongs to the field of iterative learning control, and particularly relates to a rehabilitation mechanical device iterative learning control method and system based on a disturbance observer. Through the built disturbance observer, the disturbance borne by the rehabilitation mechanical device is reconstructed through the control voltage data and the output displacement data in the repeated operation process of the rehabilitation mechanical device, and the estimated value of the total disturbance borne by the rehabilitation mechanical device is obtained; further, an iterative learning controller based on an interference observer is designed by utilizing the obtained total interference estimation value to repeatedly control the rehabilitation mechanical device, so that the influence of actual interference is counteracted; and finally, the rehabilitation mechanical device obtains interference resistance, and meanwhile, the rehabilitation mechanical device can accurately track an expected output track.

Description

technical field [0001] The invention belongs to the field of iterative learning control, in particular to an iterative learning control method and system for a rehabilitation mechanical device based on a disturbance observer. Background technique [0002] Rehabilitation mechanical devices are one of the branches of medical robots, which have received extensive research and attention in recent years. The main function of the rehabilitation mechanical device is to assist patients in the rehabilitation training of finger flexion and extension. The purpose is to reduce the functional atrophy of the motor nervous system in the patient's brain through training and treatment for a certain period of time, so as to realize the repair of the patient's motor nerves and restore the body. motor function. In actual operation, in order to achieve the effect of training and recovery, the rehabilitation mechanical device needs to help the patient complete multiple specific rehabilitation tr...

AI Technical Summary

Problems solved by technology

[0003] At present, the limitation of applying the traditional iterative learning control method is that it cannot guarantee 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 patient

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