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引用次数: 1
摘要
体重支持单元(Body weight support unit, BWS)是现代康复系统中重要而关键的单元。它可以通过插入辅助力来补偿作用在腿部上的重力，从而帮助下肢肌肉无力的患者快速恢复。因此，如何控制施加力以获得平稳、快速和准确的响应是一个重要的问题。针对不同的BWS单元，提出了不同的控制结构。NARMA-L2是一种基于神经网络的控制器，在各种应用的识别和控制方面表现良好。本文采用NARMA-L2控制器对串联弹性BWS机组进行力控制。MATLAB仿真结果表明，与目前常用的两种控制结构相比，该控制器具有更好的控制性能。
NARMA-L2 Controller for Series Elastic Based Body Weight Support System
Body weight support (BWS) unit is an important and crucial unit in modern rehabilitation systems. It can assist the patients with weak lower muscles and help quick recovery by compensating the gravitational forces acting on the legs by inserting an assisted force. Thus controlling of applied force to have smooth, fast and accurate response is an important issue. Different control structures have been proposed to control different BWS units. One of the neural network based controllers is NARMA-L2 that have provided good performance in identification and control of different applications. In this paper a NARMA-L2 controller is employed to force control of series elastic based BWS unit. Simulation results in MATLAB shows that the proposed controller has better control performance in comparison with two other recently used control structures.
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