Research on the Control System of the Lower Limb Rehabilitation Robot under the Single Degree of Freedom

Abstract

This paper studies the PID control algorithm of foot-pedal lower limb rehabilitation robot which can be viewed as a single closed-loop DC speed regulating system. It is necessary to ensure the steady state of the system under various types of interference and the setting of PID parameters will take a lot of time and energy. For this reason, GA (Genetic Algorithms) is used to set the PID parameters in this paper, PID parameters optimized by different goal functions are presented. The simulation results show that the GA simplifies the setting of PID parameters, for different goal functions make the system outputs have different characteristics.