- 期刊
- OpenAccess
Pid Control for Ambulatory Gait Orthosis: Application of Different Tuning Methods
並列摘要
Actuating mechanisms of orthotic devices are important aspects of today's robotic field. Controlling a linear actuator attached in an orthotic limb using PID controller with a suitable tuning method is the main discussion of this paper. Tuning methods like, Internal Model Control (IMC), Zeigler‐ Nichols and Tyreus‐Lyben are applied in this work and analyzed the response in time domain specification, by considering the aspects of orthotic devices. Since simulation is the best way to testing a design, here we use control and simulation module of LabVIEW to simulate our process. Simulation results have shown us the improvement of the system performance by the application of different tuning methods and we have found that IMC method is the best for PID controller to control the DC drive in case of an ambulatory gait orthotic.
延伸閱讀
- 吳孟哲（2009）。Identification and Control of Mckibben Pneumatic Muscles for a Wearable Lower Limb Orthosis〔碩士論文，國立清華大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0016-1111200916101194
- Dzahir, M. A. M., & Yamamoto, S. I. (2013). Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation. Journal of Robotics, 2013(), 43-62. https://doi.org/10.1155/2013/535106
- 張永富（2008）。The research and development of active orthosis〔碩士論文，國立虎尾科技大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0028-2808200815585900
- Wu, C. C. (2011). Conceptual Design of Portable Lower Limb Orthosis for Persons with Motor System Impairments [master's thesis, National Taiwan University]. Airiti Library. https://doi.org/10.6342/NTU.2011.01484
- 張祥均（2007）。Dynamic Analysis, Identification and Control of Wearable Lower Limb Orthosis〔碩士論文，國立清華大學〕。華藝線上圖書館。https://doi.org/10.6843/NTHU.2007.00629