步态训练机器人控制系统仿真研究  

Simulation study for gait training robot control system

作　　者：张立勋[1] 王令军 王克宽 王凤良[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《应用科技》2009年第3期62-65,共4页Applied Science and Technology

基　　金：国家自然科学基金资助项目(60575053);国家博士点基金资助项目(20060217024)

摘　　要：步态训练机器人是一种可以模拟在不同路况下行走的机器人.针对控制系统能够适应不同路况的要求,设计了一种适应负载、速度变化的变参数PID控制器,并建立了控制系统模型.在MATLAB环境下,对控制系统进行了仿真分析.仿真结果表明,平地行走、上楼梯和下楼梯3种步态轨迹的跟踪曲线均具有良好的运行特性;控制器适应了速度、负载变化的影响,满足机器人对不同路况模拟的各项要求.该研究为步态训练机器人对不同路况的进一步模拟研究奠定了基础.Gait training robot is the robot which can simulate walking on different road conditions. According to the need that the control system fits for different road conditions, a variable- parameter PID control strategy fitting for variable velocities and loads was proposed, and the control system＇s model was established. The control strategy was simulated in MATLAB environment, and the results proved the tracking trajectory of three kinds of gaiting, i.e. walking on road, upstairs and downsteirs had fine kinetic characteristics. The controller fitted for variable loads and velocities, and met the requirements of the robot simulating different road conditions. The study laid the groundwork for future research on gait training robot.

关 键 词：步态训练机器人 路况模拟 变参数PID器 仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]