Intelligent Dsp Controller Based On Genetic Algorithms And Fuzzy Reasoning And The Application Of Bionic Artificial Leg

Intelligent artificial leg has become an interesting research project in the fields of robotics and biomedical engineering. It incorporates the technology of intelligent control, microelectronics, computer control, mechanical design & manufacture and biomedical engineering, etc. Its excellent performance is that its walking speed can naturally change with the change of amputee's walking speed. The significance of this research is that it can help amputees return to mainstream society aind it can lighten society and family's burden.Intelligent artificial leg consists of knuckle, an executive mechanism, an anklebone, a foot and an intelligent controller. The executive mechanism controls the bent and stretch's movement of knuckle and the pendular movement of calf. The key components of the intelligent artificial leg are the executive mechanism and the intelligent controller. Today, in the foreign intelligent artificial leg, the executive mechanism which controls the bent and stretch's movement of knuckle and the pendular movement of calf is a single air cylinder. In the air cylinder, there is a throttle, the cylinder's damp can be adjusted by controlling the opening of the throttle valve, when the air cylinder's damp changes, the pendular speed of calf will change too. The intelligent controller consists of micro-motor, sensor and microprocessor. It is used to regulate the opening of throttle. From the current public information, in the new type of the foreign intelligent artificial leg, the way, which controls the bent and stretch's movement of knuckle and the pendular movement of calf, is open-loop, this kind of control way has no enough high precision and has no intelligent control strategy.In this paper, the control way of foreign intelligent leg's controller has been improved and a close-loop control way has been proposed. At the same time, fuzzy control theory is applied to this controller, the control strategy has been changed and precision of control has been greatly raised. We use genetic algorithm to determine the parameters of controller. Genetic algorithm's operation is simple and has powerful ability of global search. This kind of algorithm can find out optimal answers in an extensive answer space. However the traditional way is based on people's experience, and the process of determining parameters is very difficult. The genetic algorithm proposed in this paper is called pseudo parallel genetic algorithm, which is designed by author. This kind of search way improves the basic genetic algorithm. In the speed of search and the ability of global search, the pseudo genetic algorithm is superior to basic genetic algorithm. We describe the process of optimizing controller's parameters by this way in detail. In the design of the controller's hardware, we choose TMS320F240 produced by TI company. It gathers DSP with high speed operational ability and the effective control ability. The rich instructions of this chip and its specialhardware structure bring great convenience to the hardware design of the intelligent controller. In this chip, we program control algorithm and realize the quick and accurate control of the opening of throttle valve.