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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Decoupled Control for the Bicycling UGent Knee Rig: Design, Implementation, and Validation
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Decoupled Control for the Bicycling UGent Knee Rig: Design, Implementation, and Validation

机译：自行车UGent膝钻机的解耦控制：设计，实现和验证

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摘要

This paper presents the design and implementation of a new control strategy for Ghent University, Ghent, Belgium (UGent) knee rig, which is capable of imposing bicycle motions on cadaver knee specimens in order to investigate knee biomechanics and the impact of newly designed knee implants. An electromechanical description of the system with its instrumentation and limitations is given. Via system identification, a dynamical model of the multiple-input/multiple-output system is obtained on which the control strategy design is based. This control strategy combines position control and force control. Dynamical analysis of the system suggests the need for a Proportional-Integral-Derivative (PID) control strategy with gain adaptation. In order to fulfill the performance specifications, a feed-forward action and decouplers are added to the control strategy, and their advantages are shown via simulations and experiments. The complete strategy is implemented on the real system and the output signals are measured for analysis. The results indicate that the identified model fits well to the measured data and that the designed control strategy is able to accurately control the system. The measurements show that the predefined performance specifications have been achieved for a bicycle motion with a period of 10 s; the error on the position is smaller than 2 mm and the error on the force is smaller than 10 N.
机译：本文介绍了比利时根特（UGent）膝关节钻机的一种新控制策略的设计和实施，该策略可以对尸体膝关节标本施加自行车运动，以研究膝关节生物力学和新设计的膝关节植入物的影响。给出了系统的机电说明及其仪器和局限性。通过系统辨识，获得了多输入/多输出系统的动力学模型，该模型是控制策略设计的基础。这种控制策略结合了位置控制和力控制。系统的动态分析表明，需要具有增益自适应功能的比例积分微分（PID）控制策略。为了满足性能规格，在控制策略中添加了前馈动作和解耦器，并通过仿真和实验显示了它们的优点。完整的策略在实际系统上实现，并测量输出信号以进行分析。结果表明，所识别的模型非常适合测量的数据，并且设计的控制策略能够准确地控制系统。测量结果表明，对于10秒钟的自行车运动，已经达到了预定义的性能规格;位置误差小于2毫米，力误差小于10 N.

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2017年第4期|1685-1694|共10页
  • 作者

    Amélie Chevalier; Matthias Verstraete; Clara Ionescu; Robin De Keyser;

  • 作者单位

    Dynamical Systems and Control Research Group, Department of Electrical Energy, Metals, Mechanical Constructions, and Systems, Ghent University, Ghent, Belgium;

    Department of Physical Medicine and Orthopaedic Surgery, Ghent University Hospital De Pintelaan, Ghent, Belgium;

    Dynamical Systems and Control Research Group, Department of Electrical Energy, Metals, Mechanical Constructions, and Systems, Ghent University, Ghent, Belgium;

    Dynamical Systems and Control Research Group, Department of Electrical Energy, Metals, Mechanical Constructions, and Systems, Ghent University, Ghent, Belgium;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Force; Actuators; Knee; Bones; Bicycles; IEEE transactions; Mechatronics;

    机译：力;致动器;膝盖;骨骼;自行车;IEEE事务;机电一体化;
  • 入库时间 2022-08-17 13:03:29

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