CN-122018347-A - Pelvic and abdominal muscle group cooperative training self-adaptive control system based on biofeedback

CN122018347ACN 122018347 ACN122018347 ACN 122018347ACN-122018347-A

Abstract

The invention relates to the technical field of automatic control and discloses a pelvic-abdominal muscle group cooperative training self-adaptive control system based on biofeedback, which comprises a state drift observation, dynamic threshold value calculation and self-adaptive control module, wherein the system monitors the amplitude attenuation rate of master agreement bundles of variables in real time to update an attenuation coefficient, constructs a dynamic safety envelope comprising a slew rate limit and amplitude saturation according to the attenuation coefficient, and when the first-order time derivative of a disturbance variable is over, a controller locks the output slope of the disturbance variable.

Inventors

LI JIANYING
XIA LINWU
LI HUITING
ZHOU LIN
YAN QINGUO
PENG XINMIN
GUO ZIZHANG

Assignees

湖南艾瑞特生物医疗科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260416

Claims (10)

1. The utility model provides a basin abdominal muscle crowd cooperative training self-adaptation control system based on biofeedback which characterized in that includes: The multichannel signal acquisition module is used for synchronously acquiring a first state signal representing master agreement bundles of variables and a second state signal representing disturbance variables, the first state signal corresponds to a real-time contraction voltage value of the pelvic floor muscle group, and the second state signal corresponds to a real-time contraction voltage value of the abdominal muscle group; the state drift observation module is connected with the multichannel signal acquisition module and is used for monitoring the amplitude attenuation rate of the first state signal when the first state signal is in a steady state maintaining period, updating the current real-time attenuation coefficient of the system according to the amplitude attenuation rate, and the real-time attenuation coefficient is used for representing the time-varying parameter drift characteristic of the controlled object; The dynamic threshold value resolving module is connected with the state drift observation module and is used for constructing a dynamic safety envelope aiming at the disturbance variable according to the real-time amplitude and the real-time attenuation coefficient of the first state signal, wherein the dynamic safety envelope comprises an amplitude saturation threshold value and a slew rate limiting threshold value which are allowed by the system at the current moment; The self-adaptive controller is respectively connected with the dynamic threshold value resolving module and the multi-channel signal acquisition module and is used for executing double constraint control logic, when the first-order time derivative of the second state signal exceeds the slew rate limiting threshold value, a slope locking instruction is output to forcedly lock the rising rate of the control output aiming at the disturbance variable at the slew rate limiting threshold value, when the real-time amplitude of the second state signal exceeds the amplitude saturation threshold value, a gain clamping instruction is output to limit the control output amplitude aiming at the disturbance variable, wherein the slew rate limiting threshold value and the real-time amplitude of the first state signal are in positive correlation mapping relation, and the loading rate of the disturbance variable is limited by the current response bandwidth of the main constraint variable.
2. The adaptive control system for cooperative training of pelvic-abdominal muscle groups based on biofeedback according to claim 1, wherein the logic for updating the real-time attenuation coefficient by the state drift observation module is to set a drift determination threshold value representing a steady state error margin of the system, continuously calculate a negative variation of the first state signal in a unit time, and execute a decremental operation on the real-time attenuation coefficient according to a preset stepping amount when an absolute value of the negative variation continuously exceeds the drift determination threshold value until the negative variation of the first state signal falls back within the drift determination threshold value.
3. The biofeedback-based pelvic abdominal muscle group cooperative training adaptive control system according to claim 1, wherein the slew rate limiting logic in the adaptive controller comprises a nonlinear filter for reshaping the input step-type control signal into a ramp-type signal when the first time derivative of the second state signal is detected to exceed the slew rate limiting threshold, and wherein the slope value of the ramp-type signal dynamically adjusts in real time following the slew rate limiting threshold.
4. The adaptive control system for pelvic-abdominal muscle group cooperative training based on biofeedback according to claim 1, wherein the dynamic threshold calculation module calculates the amplitude saturation threshold using the following relation: , wherein, The threshold value is saturated for the amplitude of the second state signal allowed at the current moment, For a preset system safe coupling gain constant, For the real-time amplitude of the first status signal, Is the real-time attenuation coefficient output by the state drift observation module.
5. The adaptive control system for cooperative training of pelvic-abdominal muscle group based on biofeedback according to claim 4, further comprising an accumulated load evaluation module for performing a weighted integration operation on the signal amplitude and the residence time to generate an accumulated load value when the amplitude of the second state signal is within a preset critical interval of the amplitude saturation threshold, wherein the accumulated load value is used for representing a fatigue accumulation degree of the system in a critical high-load operation state.
6. The biofeedback-based pelvic abdominal muscle group cooperative training adaptive control system of claim 5, wherein the adaptive controller further comprises a hysteresis recovery logic unit for performing an adjustment to trigger a forced derating action to lower the amplitude saturation threshold to a preset recovery level when the cumulative load value exceeds a preset upper fatigue limit, to release the forced derating action when the cumulative load value falls back to a preset lower reset limit through natural decay, and to lower the lower reset limit below the upper fatigue limit, thereby forming a state recovery hysteresis loop in the control logic.
7. The adaptive control system for pelvic-abdominal muscle group cooperative training based on biofeedback according to claim 1, wherein the multi-channel signal acquisition module comprises a differential signal preprocessing unit, and the differential signal preprocessing unit is configured to perform absolute value detection and moving average filtering processing on the acquired original signal, so as to extract an extremely low frequency direct current component as the first state signal and the second state signal.
8. The biofeedback-based pelvic abdominal muscle group cooperative training adaptive control system according to claim 1, wherein the adaptive controller is configured to perform a bias-based feedback adjustment by calculating a bias between an actual output slope and a slew rate limiting threshold when outputting a slope lock command, and correcting a driving signal for a disturbance variable by a proportional integral adjustment algorithm using the bias as a feedback amount to suppress dynamic overshoot of a system response.
9. The adaptive control system for cooperative training of pelvic-abdominal muscle group based on biofeedback according to claim 1, wherein the dynamic threshold calculation module is further configured to zero the slew rate limiting threshold when the real-time amplitude of the first status signal is lower than a preset minimum system operating point, thereby cutting off the control output for the disturbance variable.
10. The adaptive control system for pelvic-abdominal muscle group cooperative training based on biofeedback according to claim 1, wherein the system comprises a first acquisition probe, a second acquisition probe and a central processing unit, wherein the first acquisition probe and the second acquisition probe are respectively connected to an analog input port of the central processing unit, and an operation circuit for executing a state drift observation module, a dynamic threshold value calculation module and an adaptive controller logic is integrated in the central processing unit.

Description

Pelvic and abdominal muscle group cooperative training self-adaptive control system based on biofeedback Technical Field The invention relates to a pelvic-abdominal muscle group cooperative training self-adaptive control system based on biofeedback, and belongs to the technical field of automatic control. Background In the current mainstream technical scheme, a single-loop independent control strategy is generally adopted to excite or monitor biological load, a pelvic floor muscle group and an abdominal muscle group are used as independent single-input single-output subsystems by a controller, a control instruction is generated only according to the amplitude of a real-time acquisition signal and the deviation of a preset static threshold value, the control logic is assumed to ignore inherent strong coupling characteristic and parameter time variability of the biological muscle group as a controlled object based on a linear steady system, in an actual working condition, the contraction of the abdominal muscle group forms non-steady load disturbance on the pelvic floor muscle group, and physical lag and gain nonlinear attenuation exist in response of the system due to the characteristics of the viscoelasticity and metabolic fatigue of biological soft tissues. Although the industry introduces multi-muscle group collaborative monitoring, a real-time control strategy for monitoring data conversion is lagged, for example, chinese patent publication No. CN115177274A discloses a device for evaluating coordination and fatigability of pelvic floor muscle groups, muscle coordination and fatigue quantification characterization is realized by calculating a multi-channel myoelectric signal activation time difference and a median frequency linear fitting slope, but the technical essence is still limited to offline diagnosis or state monitoring, a core logic output evaluation report is provided for reference by doctors, a real-time feedback control closed loop based on fatigue state is not constructed, the excitation intensity or the locking output slope is automatically regulated in a millisecond-level control period when the pelvic floor muscle fatigue frequency domain index deterioration or abdominal muscle group burst high-frequency disturbance such as cough sneeze is monitored, and the device is difficult to maintain the steady-state stability of a dynamic training process because the control parameters cannot be timely adapted and easily cause biological soft tissue overload injury when only the non-controlled open-loop mode faces to the physical property of a controlled object. Therefore, how to construct an adaptive control strategy with disturbance feedforward decoupling, transient slew rate limiting and historical state memory capacity in the time domain, and maintain the global dynamic stability of a nonlinear time-varying coupling system becomes the technical problem to be solved by the invention. Disclosure of Invention In order to solve the problems in the background technology, the technical scheme of the invention is as follows, a pelvic abdominal muscle group cooperative training self-adaptive control system based on biofeedback comprises: The multichannel signal acquisition module is used for synchronously acquiring a first state signal representing master agreement bundles of variables and a second state signal representing disturbance variables, the first state signal corresponds to a real-time contraction voltage value of the pelvic floor muscle group, and the second state signal corresponds to a real-time contraction voltage value of the abdominal muscle group; the state drift observation module is connected with the multichannel signal acquisition module and is used for monitoring the amplitude attenuation rate of the first state signal when the first state signal is in a steady state maintaining period, updating the current real-time attenuation coefficient of the system according to the amplitude attenuation rate, and the real-time attenuation coefficient is used for representing the time-varying parameter drift characteristic of the controlled object; The dynamic threshold value resolving module is connected with the state drift observation module and is used for constructing a dynamic safety envelope aiming at the disturbance variable according to the real-time amplitude and the real-time attenuation coefficient of the first state signal, wherein the dynamic safety envelope comprises an amplitude saturation threshold value and a slew rate limiting threshold value which are allowed by the system at the current moment; The self-adaptive controller is respectively connected with the dynamic threshold value resolving module and the multi-channel signal acquisition module and is used for executing double constraint control logic, when the first-order time derivative of the second state signal exceeds the slew rate limiting threshold value, a slope locking instruction is output to forcedly lock the ri