本文選題：全方向康復(fù)步行訓(xùn)練機(jī)器人 + 變結(jié)構(gòu)控制　； 參考：《沈陽工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著老齡人口的不斷增長(zhǎng),由于疾病或者外力損傷所造成的運(yùn)動(dòng)性功能障礙患者越來越多,醫(yī)學(xué)研究表明科學(xué)的康復(fù)訓(xùn)練能夠促進(jìn)患者恢復(fù),其中康復(fù)機(jī)器人得到了快速的發(fā)展。康復(fù)機(jī)器人屬于一類高度不確定性和易受外部擾動(dòng)的非線性系統(tǒng),易受負(fù)載質(zhì)量、重心偏移、未建模動(dòng)態(tài)、周圍環(huán)境、機(jī)械形變、反饋信息測(cè)量誤差等因素的影響,很難保證系統(tǒng)跟蹤精度。針對(duì)以上問題學(xué)者們已經(jīng)設(shè)計(jì)出諸多控制方法;然而這些控制方法主要以實(shí)現(xiàn)軌跡跟蹤為目的,大部分忽視了康復(fù)機(jī)器人運(yùn)動(dòng)速度對(duì)患者的影響,或者以犧牲收斂時(shí)間為代價(jià)而達(dá)到一定的跟蹤效果。本文主要以全方向康復(fù)步行訓(xùn)練機(jī)器人為研究對(duì)象,對(duì)具有重心偏移情況下動(dòng)力學(xué)模型展開研究,采用變結(jié)構(gòu)控制算法設(shè)計(jì)出相應(yīng)的控制器,在確�；颊甙踩鸵欢ǜ櫨鹊那疤嵯�,實(shí)現(xiàn)速度受限和確定收斂時(shí)間的軌跡跟蹤。主要研究?jī)?nèi)容如下:當(dāng)系統(tǒng)跟蹤誤差較大時(shí),康復(fù)機(jī)器人會(huì)產(chǎn)生較大的運(yùn)動(dòng)速度去消除跟蹤誤差�？紤]到速度對(duì)康復(fù)患者安全的影響,文中首先定義了安全的受限速度,采用反演方法設(shè)計(jì)出了針對(duì)速度和軌跡的補(bǔ)償算法;其次采用變結(jié)構(gòu)的控制方法設(shè)計(jì)出可以直接限制速度的控制器;然后論證了系統(tǒng)的穩(wěn)定性;最后對(duì)比了在系統(tǒng)速度受限情況下,設(shè)計(jì)速度和位移補(bǔ)償項(xiàng)與不設(shè)計(jì)相應(yīng)補(bǔ)償項(xiàng)兩種狀態(tài)下的跟蹤效果。通過仿真實(shí)驗(yàn)驗(yàn)證了控制策略的有效性,實(shí)現(xiàn)了速度受限的功能。另外從抑制系統(tǒng)的抖振和保證系統(tǒng)狀態(tài)能夠在有限時(shí)間內(nèi)收斂到平衡點(diǎn)出發(fā),在保證變結(jié)構(gòu)控制的動(dòng)態(tài)性能情況下,設(shè)計(jì)出一種新型控制器以提高軌跡的跟蹤精度。文中提出一種具有自適應(yīng)效果的改進(jìn)雙冪次趨近率去削弱系統(tǒng)的抖振,并通過對(duì)滑模面的重新設(shè)計(jì)確保了系統(tǒng)狀態(tài)能夠在有限時(shí)間內(nèi)收斂。通過仿真驗(yàn)證該方法對(duì)系統(tǒng)的抖振具有很好的抑制效果,且系統(tǒng)誤差收斂速度加快,驗(yàn)證了對(duì)期望軌跡跟蹤效果具有非常明顯的改善。
[Abstract]:With the increasing of aging population, there are more and more patients with motor dysfunction caused by disease or external force injury. Medical research shows that scientific rehabilitation training can promote patients' recovery. Among them, rehabilitation robot has been developed rapidly. Rehabilitation robot belongs to a kind of nonlinear system with high uncertainty and easy external disturbance. It is vulnerable to the influence of load mass, barycenter deviation, unmodeled dynamics, surrounding environment, mechanical deformation, measurement error of feedback information, etc. It is difficult to ensure the tracking accuracy of the system. In view of the above problems, many control methods have been designed by scholars. However, these control methods are mainly aimed at track tracking, and most of them ignore the effect of the speed of rehabilitation robot on patients. Or at the expense of convergence time to achieve a certain tracking effect. In this paper, taking the omnidirectional rehabilitation walking robot as the research object, the dynamic model with center of gravity deviation is studied, and the corresponding controller is designed by using variable structure control algorithm. On the premise of ensuring patient safety and certain tracking accuracy, track tracking with limited speed and fixed convergence time is realized. The main research contents are as follows: when the system tracking error is large, the rehabilitative robot will produce large motion speed to eliminate the tracking error. Considering the effect of speed on the safety of rehabilitated patients, the limited speed of safety is defined firstly, and the compensation algorithm for velocity and trajectory is designed by using inversion method. Secondly, the variable structure control method is used to design the controller which can directly limit the speed. Then, the stability of the system is demonstrated. The tracking effect of the design speed and displacement compensation term and the corresponding compensation term without the design. The effectiveness of the control strategy is verified by simulation experiments, and the speed limited function is realized. In addition, a new controller is designed to improve the tracking accuracy of the system by reducing the chattering and ensuring that the state of the system can converge to the equilibrium point in a finite time. Under the condition of ensuring the dynamic performance of the variable structure control, a new controller is designed to improve the tracking accuracy. In this paper, an improved double power convergence rate with adaptive effect is proposed to weaken the chattering of the system, and the state of the system can converge in a finite time by redesigning the sliding mode surface. The simulation results show that the proposed method has a good effect on the buffeting of the system, and the convergence rate of the system error is quickened, which verifies that the expected trajectory tracking effect is improved obviously.
【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 李霞清;王洪梅;;早期康復(fù)訓(xùn)練對(duì)顱腦損傷患者認(rèn)知及上下肢運(yùn)動(dòng)功能的影響研究[J];現(xiàn)代中西醫(yī)結(jié)合雜志;2017年04期

2 何志良;張繼榮;;脊髓損傷后步行功能障礙的康復(fù)現(xiàn)狀[J];中國(guó)康復(fù);2016年06期

3 徐強(qiáng);章家?guī)r;杜翠翠;馮旭剛;;基于遺傳算法的水下機(jī)器人滑模變結(jié)構(gòu)控制策略[J];安徽工業(yè)大學(xué)學(xué)報(bào)(自然科學(xué)版);2016年03期

4 李發(fā)喜;鄧子龍;鄧文娟;;基于低通濾波器的液壓挖掘機(jī)工作裝置軌跡跟蹤滑�？刂芠J];遼寧石油化工大學(xué)學(xué)報(bào);2016年03期

5 翟振武;陳佳鞠;李龍;;中國(guó)人口老齡化的大趨勢(shì)、新特點(diǎn)及相應(yīng)養(yǎng)老政策[J];山東大學(xué)學(xué)報(bào)(哲學(xué)社會(huì)科學(xué)版);2016年03期

6 張安仁;;脊髓損傷康復(fù)的現(xiàn)狀與思考[J];康復(fù)學(xué)報(bào);2016年02期

7 李一龍;嚴(yán)智敏;;基于模糊PID對(duì)3-RPS并聯(lián)機(jī)器人軌跡跟蹤控制[J];測(cè)試技術(shù)學(xué)報(bào);2016年01期

8 池衛(wèi)明;;中西醫(yī)結(jié)合早期治療對(duì)腦卒中中重度偏癱患者運(yùn)動(dòng)功能恢復(fù)的影響[J];當(dāng)代醫(yī)學(xué);2015年21期

9 起雪梅;張敬東;;基于低通濾波器的跳躍機(jī)器人滑�？刂芠J];機(jī)械;2015年03期

10 任長(zhǎng)輝;;康復(fù)訓(xùn)練及針灸對(duì)早期偏癱患者下肢運(yùn)動(dòng)功能恢復(fù)的作用研究[J];深圳中西醫(yī)結(jié)合雜志;2015年03期

，

本文編號(hào)：2094678