Design And Isokinetic Training Control Of Elderly Leg Training Device

An elderly leg-press training device,which uses magnetic clutch as the execution unit to achieve leg-press,was designed.The man-machine dynamics model of isokinetic training was solved.A strategy of isokinetic training controller based on fuzzy sliding mode algorithm was designed and simulated.A strategy of clutch current tracking controller based on BP neural PID algorithm was designed and experimented.Firstly,the mechanical and electrical design of the leg-press training device for the elderly was completed.The isokinetic training was been selected to achieve leg-press.The size of mechanism was determined based on HIM.Transmission system design,sensor system design,and the whole mechanism design was completed.The control platform of electrical system was built,including remote control terminal,main control terminal and sensing terminal,and the layout of electrical components was completed.The block diagram of the isokinetic training control system was given,and the control requirements were pointed out.Secondly,the isokinetic training man-machine model was analyzed.The dynamic equations of the mechanical system under the different clutch connecting condition were solved.A simplified model of neural muscles expressed in a lumped form and a geometric model of quadriceps femoris stretch pull crus bone were established.The driving force equation of the knee joint was solved.The dynamic model of the leg connecting rod was analyzed.The dynamic equation of the isokinetic training man-machine system was solved.Moreover,a strategy of isokinetic training controller based on FSMC was designed.The isokinetic training process is analyzed and the switching rules of target function were set up.The SMC based on the equivalent control was completed,which uses a PD control to improve the designed sliding mode robust control.The fuzzy disturbance observer was designed to control the nonlinear term of the system.MATLAB/ADAMS joint simulation verification was carried out.Finally,a clutch current tracking control strategy based on BP neural PID algorithm was designed.The driving circuit model of the clutch was analyzed.The design of BP neural PID algorithm was completed.The simulation experiment of the driving circuit model was completed.The experiment platform was set up,and the experiment of current tracking control was completed.