【摘要】 准确诱导盲人跟踪给定路径行走是穿戴式导盲系统安全导盲的重要基础和前提.为了实现盲人的安全出行,对盲人的行走动力学模型以及自适应控制算法进行了研究.针对不同使用者在实际行走过程中,心理生理的差异以及与环境的交互作用,导致自身模型参数发生了变化,要求控制器具有一定的自适应性,提出了一种基于最小方差自校正控制算法的诱导方法,首先运用增广最小二乘法对被控对象的模型参数进行估计,然后在线求解Diophantine方程得到控制器的参数,最后根据最小方差控制律求得控制器的输出.仿真结果表明最小方差自校正控制算法在参数辨识完毕后能够很好地跟踪圆轨迹,实验结果表明多名实验者的平均行走轨迹误差范围为(-0.5957m,0.4811m),验证了该方法的准确性和适应性.更多还原

【Abstract】 Accurately inducing the blind to track a given path is an important basis and premise of wearable blind guide systems. In order to achieve safe travel for the blind, the walking dynamics model of the blind and an adaptive control algorithm were studied. For different users in the actual walking process, the model parameters change due to psychological and physiological differences and interactions with the environment, and thus an adaptive controller is required. An induction method based on minimum variance self-tuning control algorithm was proposed. Firstly, the parameters of the controlled object were estimated by the extended least squares. Then the Diophantine equation was solved to obtain the controller parameters. Finally, the output of the controller was obtained by the minimum variance control algorithm.The simulation results show that the minimum variance self-tuning control algorithm can track the circular trajectory well after identifying the model parameters, and the average travel-trajectory error range of experimental tests is(-0.5957 m, 0.4811 m), which verifies the accuracy and adaptability of the proposed method.更多还原