基于模糊的跑步机速度控制在脑卒中患者下肢康复中的应用

H. Nguyen, A. Hoang, V. Nguyen, V. Nguyen
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引用次数: 0

摘要

跑步机训练是一种针对运动功能障碍患者的创新康复方法。在下肢康复系统中,跑步机的速度被限制在一个恒定的值或由治疗师调整。由于跑步机在工业、医药和消费等领域的广泛应用,通常通过控制直流伺服电机的速度来保持跑步机的速度恒定。直流伺服电机向其PID控制器提供误差反馈信号,使误差最小化。遗憾的是,其传统的PID控制器仍然导致精度差和响应差。本文提出了一种基于模糊逻辑的直流伺服电机控制方法。基于模糊的速度控制器在8位Atmel微控制器中实现,无需使用任何特殊的软件工具。通过模糊集的简化和隶属函数的微调,提高了控制效果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Fuzzy-based treadmill speed control for lower extremity rehabilitation of patient after stroke
Treadmill training is an innovative rehabilitation method for patients with locomotor dysfunctions. In the lower extremity rehabilitation systems, the treadmill speed is restricted to a constant value or adjusted by the therapist. Speed of the treadmill is normally kept constant by controlling the speed of DC servomotors because of its wide usage in many applications from industrial to medicine and consumers. DC servomotors provide error feedback signal to its PID controller to minimize the error. Unfortunately, its conventional PID controller still causes poor accuracy and poor response. In this paper, a method for controlling DC servomotor based on fuzzy logic is proposed. The fuzzy-based speed controller is implemented in an 8-bit Atmel microcontroller without using any special software tool. With reduced fuzzy set and finer membership function tuning, the control result is improved.
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