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首页> 外文期刊>Journal of Biomechanics >Optimization and evaluation of a proportional derivative controller for planar arm movement.
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Optimization and evaluation of a proportional derivative controller for planar arm movement.

机译：平面臂运动比例微分控制器的优化和评估。

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摘要

In most clinical applications of functional electrical stimulation (FES), the timing and amplitude of electrical stimuli have been controlled by open-loop pattern generators. The control of upper extremity reaching movements, however, will require feedback control to achieve the required precision. Here we present three controllers using proportional derivative (PD) feedback to stimulate six arm muscles, using two joint angle sensors. Controllers were first optimized and then evaluated on a computational arm model that includes musculoskeletal dynamics. Feedback gains were optimized by minimizing a weighted sum of position errors and muscle forces. Generalizability of the controllers was evaluated by performing movements for which the controller was not optimized, and robustness was tested via model simulations with randomly weakened muscles. Robustness was further evaluated by adding joint friction and doubling the arm mass. After optimization with a properly weighted cost function, all PD controllers performed fast, accurate, and robust reaching movements in simulation. Oscillatory behavior was seen after improper tuning. Performance improved slightly as the complexity of the feedback gain matrix increased.
机译：在功能性电刺激（FES）的大多数临床应用中，电刺激的时间和幅度已由开环模式发生器控制。然而，对上肢到达运动的控制将需要反馈控制以实现所需的精度。在这里，我们介绍了三个控制器，它们使用比例微分（PD）反馈，通过两个关节角度传感器来刺激六个手臂肌肉。首先对控制器进行优化，然后在包含臂骨骼动力学的计算臂模型上进行评估。通过最小化位置误差和肌肉力的加权总和来优化反馈增益。通过执行未优化控制器的运动来评估控制器的通用性，并通过具有随机减弱的肌肉的模型仿真来测试鲁棒性。通过增加关节摩擦力和使手臂质量增加一倍，进一步评估了鲁棒性。在使用适当的加权成本函数进行优化之后，所有的PD控制器在仿真中均执行了快速，准确和鲁棒的到达运动。调整不当后会出现振荡行为。随着反馈增益矩阵的复杂度增加，性能会略有提高。

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