下肢康复机器人步态轨迹自适应控制  

Trajectory adaptation control for lower extremity rehabilitation robot

作　　者：李峰[1] 吴智政[1] 钱晋武[1] 

机构地区：[1]上海大学精密机械工程系,上海200072

出　　处：《仪器仪表学报》2014年第9期2027-2036,共10页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(50975165;51275282);中国教育部博士点基金(2013108110009)资助项目

摘　　要：设计了一种基于鲁棒PID控制器的下肢康复机器人步态轨迹自适应协作控制方法。首先,利用逆系统解耦理论及下肢康复机器人动力学模型,将机器人系统解耦成2个独立的二阶积分系统。其次,考虑到系统模型的不确定性,在解耦后的系统模型基础上,通过将鲁棒PID控制器的设计问题转化为一个多目标H2/H∞静态输出反馈优化问题,设计优化的鲁棒PID位置控制器,并在此基础上进一步提出了一种依据患者主动力的步态轨迹自适应协调控制方法。最后,在MATLAB-Simulink和Adams联合仿真环境中对所设计的控制器性能进行仿真验证,并在实物样机中对健康训练者进行了步态轨迹自适应的主动训练实验。仿真和实验结果表明,基于设计的鲁棒PID控制器的步态自适应协调控制方法能在模型不确定的情况下保证系统的稳定性,并实现期望的关节轨迹的自适应调整和跟踪,以满足患者主动参与康复训练的目的。In this paper,a gait trajectory adaptive control method for lower extremity rehabilitation robot （LERR） is designed based on robust PID controller.Firstly,Using inverse system decoupling theory and the dynamic model of LERR,the LERR system is decoupled into two independent second-order integral sub-systems.Secondly,considering the uncertainty of the system model,the robust PID controller design problem is converted into a multi-objective H2/H∞ static output feedback optimization problem based on the decoupled system model,and the optimized robust PID position controller is designed.Then,based on above a gait trajectory adaptive co-operative control algorithm is further developed.Finally,the performance of the designed controller was verified in the MATLAB/Simulink and Adams co-simulation environment; and in a prototype experiment system,the gait trajectory adaptive training to a healthy subject was conducted.Simulation and experiment results show that the designed gait trajectory adaptive co-operative control strategy based on robust PID controller can ensure the system stability and achieve the desired joint trajectory tracking performance even under system model uncertainty condition,and achieve the purpose that the patients participate in the rehabilitation training cooperatively.

关 键 词：下肢康复机器人 鲁棒PID控制 多目标H2 H∞优化 步态轨迹自适应 

分 类 号：TH789[机械工程—仪器科学与技术]