摘要
为了实现康复训练过程中高精度的轨迹跟踪控制,针对下肢康复机器人的模型参数和外界干扰等不确定性因素对其轨迹跟踪造成严重影响,提出一种模型不确定的下肢康复机器人轨迹跟踪自适应控制方法。根据所提方案,设计了相应的轨迹跟踪自适应控制器;并进行了轨迹跟踪控制仿真实验对比分析,结果表明,计算力矩控制方法在系统模型不确定时,膝关节的最大角度跟踪误差高达11.3°,髋关节最大稳态误差4.6°;而轨迹跟踪自适应控制方法在模型不确定的情况下,髋关节和膝关节的角度跟踪稳态误差均收敛于零;轨迹跟踪自适应控制方法可以显著提高下肢康复机器人轨迹跟踪的精度。
The dynamic modeling error of the lower limb rehabilitation robot caused by robot's model-parameter uncertainty and external disturbancecan affect the performance of trajectory tracking. In order to achieve the aim of high-precision trajectory tracking control for the lower limb rehabilitation robot during gait rehabilitation, a trajectory tracking adaptive control method in the case of model uncertainty for the lower limb rehabilitation robot was proposed. According to the scheme proposed in this paper,the trajectory tracking adaptive controller of the lower limb rehabilitation robot was designed. Besides,the trajectory tracking control simulation experiment for the proposed algorithm was conducted and analyzed. The simulation results show thatthe computed torque controlmethod under the system model uncertain circumstance,the maximum angle tracking error of knee joint up to 11. 3 degree,the maximum steady-state error of hip joint is 4. 6 degree; while trajectory tracking adaptive control method in the case of model uncertainty,the hip and knee joint angle tracking steady-state error converges to zero. Thus thetrajectory tracking adaptive control methodcan significantly improve the trajectory tracking accuracy for lower limb rehabilitation robot.
出处
《电子测量与仪器学报》
CSCD
北大核心
2016年第11期1750-1757,共8页
Journal of Electronic Measurement and Instrumentation
基金
国家高技术研究发展计划863(2015AA042301)资助项目
关键词
步态轨迹跟踪控制
自适应控制
下肢康复机器人
计算力矩控制
模型不确定
gait trajectory tracking control
adaptive control
lower limb rehabilitation robot
computed torque control
model uncertainty