Abstract
Based on the need of a wearable lower limb orthosis, this thesis is aimed to design a portable DSP/CPLD system that allows user to move freely with the orthosis. Here, we integrate an industrial controller (LinCon8K)、DSP(Digital Signal Processor)、CPLD(Complex Programmable Logic Device) and Linux operating system to realize this pneumatic control system. This thesis presents a control law that combines wavelet and ILC on the control of a pneumatic servo system. It can provide a solution to the nonlinear and uncertain problems that the traditional controller can not achieve. An Iterative Learning Control (ILC) scheme would use the information in repetitive operation and progressively improving the tracking performance. The tracking error can be converged to a small iterative learning controller would only have repeatable uncertainties. Here, wavelet transform was applied to handle the un-learnable dynamics to ensure the convergence of this iterative learning process. Thus the pneumatic cylinder can track an arbitrary trajectory profile.