宇航员康复训练机器人自抗扰力控制  

Active Disturbance Rejection Force Control for Astronaut Rehabilitative Training Robot

作　　者：张立勋[1] 邹宇鹏[1] 隋立明[1] 王克义[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：《机器人》2012年第2期217-222,共6页Robot

基　　金：国家自然科学基金资助项目(61175128);国家863计划资助项目(2008AA040203);高等学校博士学科点专项科研基金资助项目(20102304120007)

摘　　要：为帮助宇航员在失重环境中进行卧推训练,提出了一种基于并联柔索驱动机构的宇航员康复训练机器人.针对系统内部和外部扰动都比较大的问题,在对单个柔索驱动单元进行动力学分析的基础上,提出了基于自抗扰控制技术的宇航员康复训练机器人力控制器.为了验证自抗扰控制器的性能,通过与PID控制对比,进行了仿真实验.实验结果表明:该控制器具有良好的动、静态性能,抗干扰能力强,对内部参数变化具有很强的鲁棒性.An astronaut rehabilitative training robot based on the parallel wire driven mechanism is presented to help astronauts do bench press in the microgravity environment. To solve the problems that the internal and external disturbances are large, an active disturbance rejection force controller of the astronaut rehabilitative training robot is presented based on dynamics analysis on a single wire driven unit. To verify the performance of the controller, simulation experiments are conducted by comparing with the PID controller. The results show that this controller has good dynamic and static performances, strong anti-interference ability and strong robustness to the internal parameters variations.

关 键 词：并联柔索驱动 康复训练 力伺服 自抗扰控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]