减重支持系统的实现

介绍了康复机器人减重支持系统的构成。利用直线执行器作为支持系统的主要部件,采用H桥驱动直线执行器。利用双闭环反馈控制作为该系统的控制器,其中电流控制器作为内环控制器,速度反馈控制器作为外环控制器,并均采用PID控制器来实现,PID参数采用遗传算法进行整定。同时,利用延迟采样的策略保证了电流控制器参数的正确性。从实际效果上看,双闭环反馈控制基本使减重支持系统达到了恒力输出的要求。

Realization of Partial Body Weight Support System

The rehabilitation robot weight support system is introduced, with the linear actuator as main compo- nent of support system and the H bridge to drive linear actuator. The double closed-loop feedback control is used as the system controller, in which the current controller acts as the inner loop controller and velocity feedback controller as an outer loop controller, both using PID controller. PID parameters are tuned by genetic algorithm, and delay sampling strategy ensures the integrity of the current controller parameters. Actual uses show that the double closed- loop feedback control weight support system can meet the basic requirements of constant force output.