The research of fractional order control system based on surface EMG signal

Abstract

With the development and integration of the subjects such as rehabilitation medicine, mechanical electronics and control theory, the related theory and technology of rehabilitation robot have important research value in the field of clinical medicine disease diagnosis, rehabilitation medicine, muscle function evaluation and artificial limb control. Quantitative identification of joint motion information and the quantitative model of sEMG and joint angle signal are established in this paper through the data acquisition and analysis of surface EMG signal (sEMG) and joint angle signal. The signal of sEMG are input into the quantitative model of sEMG , and then output the prediction angle of the joint, identify the movement intention, carry out motion planning, rehabilitation robot driven by permanent magnet synchronous motor in accordance with the movement of the patient's intention to drive the upper limb rehabilitation training. In order to achieve high performance speed control of AC permanent magnet synchronous motor, the fractional order proportional integral controller is proposed which can satisfy the stability and robustness of the system. Compared with the integer order PID controller, the fractional order PID controller has two adjustable parameters and which can achieve better control performance.