Affiliations: [a] School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, West Hi-Tech Zone, Chengdu, China
| [b] School of Electronics and Information Engineering, Southwest Petroleum University, Chengdu, China
Correspondence:
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Corresponding author. Hongyan Wang, School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, No. 2006, Xiyuan Ave, West Hi-Tech Zone, Chengdu, China. E-mail: hongyanwang79@uestc.edu.cn.
Note: [1
] This work is supported by the Fundamental Research Funds for the Central Universities (No. ZYGX2016J108)
Abstract: In this paper, by replacing the integral mass flow equation to fractional-order mass flow equation, the fractional-order mathematical model of 2DOF pneumatic-hydraulic upper limb rehabilitation training system is established. A new 2DOF fractional-order fuzzy PID (FOFPID) controller is designed, to provides a new reference for improving the control accuracy of the pneumatic system. In the design of the controller, the weight parameters of the input terms are transformed into the weight parameters of the error, and the input, which are analyzed to improve the accuracy of the controller design. The parameters of the control system are determined by multi-objective particle swarm optimization. To prove the effectiveness of the proposed control method, the experimental research was carried out by building the experimental platform of pneumatic-hydraulic upper limb rehabilitation training system. The results show that the 2DOF FOFPID controller has better performance than other designed controllers under different working conditions.
Keywords: Pneumatic-hydraulic drive, rehabilitation training system, fractional-order modeling, fractional-order fuzzy PID control
