机械假腿的建模与PID控制

摘要

由拉格朗日方程建立了机械假腿动力学模型.设计了基于无刷直流电机的机械假腿PID运动控制系统,给出了PID参数的整定方法,并用Simulink仿真软件对机械假腿运动系统进行了仿真,仿真结果表明,基于此参数整定的PID控制机械假腿运动系统具有好的步态跟随特性.%A dynamic model of prosthetic leg is derived based on Lagrangian formulation,and a design of PID control system of prosthetic leg which is driven by brushless DC motor is proposed.Meanwhile,the PID controller tuning method of parameters is presented,and simulink simulation of the prosthetic leg is designed.The simulation results show that the PID control is good for gait tracking of prosthetic leg based on the PID controller tuning method.