Hybrid force control of astronaut rehabilitative training robot under active loading mode  

作　　者：邹宇鹏 张立勋 马慧子 秦涛 

机构地区：[1]College of Mechanical and Electrical Engineering Harbin Engineering University [2]Institute of Technology Management Harbin Engineering University

出　　处：《Journal of Central South University》2014年第11期4121-4132,共12页中南大学学报（英文版）

基　　金：Project(61175128) supported by the National Natural Science Foundation of China;Project(2008AA040203) supported by the National High Technology Research and Development Program of China;Project(QC2010009) supported by the Natural Science Foundation of Heilongjiang Province,China

摘　　要：In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.In order to mitigate the effects of space adaptation syndrome（SAS） and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot（ART） was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit（CDU） was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.

关 键 词：space adaptation syndrome astronaut rehabilitative training robot model identification hybrid force control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] R49[自动化与计算机技术—控制科学与工程]