火炮弹药运输外骨骼负荷估算方法研究  

Research on the Estimated Algorithm Method of Exoskeleton Load for Artillery Ammunition Transportation

作　　者：孙汐畅 莫新民[1] 纪平鑫[1] 宋鹏 韦祖拔 SUN Xichang;MO Xinmin;JI Pingxin;SONG Peng;WEI Zuba(Northwest Institute of Mechanical&Electrical Engineering,Xianyang 712099,Shaanxi,China)

机构地区：[1]西北机电工程研究所

出　　处：《火炮发射与控制学报》2020年第1期99-103,共5页Journal of Gun Launch & Control

摘　　要：针对火炮弹药运输或搬运过程中外骨骼系统外负荷未知且随机变动而影响外骨骼控制系统力矩需求计算的问题,结合三维力传感器和惯性传感器等信息,运用拉格朗日动力学方程提出一种外负荷估算模型,该模型能较好地利用传感器回传数据预测在人体矢状面上运动过程中外负荷的加载变化和惯性作用对外骨骼系统髋关节作用点产生的力矩,从而为外骨骼控制系统的需求力矩计算提供了理论依据。通过设计并搭建了实验装置对提出的估算模型进行验证,实验结果符合理论预期。Aiming at the problem that the desired torque of the exoskeleton control system was affected by the unknown and random variation of the external load of the exoskeleton system in the course of the transportation or handling of artillery ammunition, an external load estimated algorithm model was proposed by combining the information of three-dimensional force sensor and inertial sensor and by using the Lagrangian dynamic equation. The model can better predict the change of the external load and the moment produced on the exoskeleton system’s hip joint under the inertial action in the process of movement in the human body’s sagittal plane through the use of the data returned by the sensor, thus providing a theoretical basis for the algorithm of the desired torque for the exoskeleton control system. The proposed estimated algorithm model has been verified through the designed and constructed experimental equipment, with the experimental results meeting theoretical expectations.

关 键 词：外骨骼 负荷估算 三维力传感器 髋关节 

分 类 号：TJ02[兵器科学与技术—兵器发射理论与技术]