下肢外骨骼机器人阻抗控制参数优化研究  

Optimization of Impedance Control Parameters for Lower Extremity Exoskeleton Robot

作　　者：钟佩思[1] 杨世浩 张超[1] 王晓[1] 张大卫 刘梅[1] ZHONG Pei-si;YANG Shi-hao;ZHANG Chao;WANG Xiao;ZHANG Da-wei;LIU Mei(Advanced Manufacturing Technology Center,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]山东科技大学先进制造技术研究中心,青岛266590

出　　处：《科学技术与工程》2023年第18期7831-7837,共7页Science Technology and Engineering

基　　金：山东省自然科学基金(ZR202103070107);山东省自然科学基金(ZR2020MF101)。

摘　　要：为了提高下肢外骨骼机器人的人机交互性能,以基于位置的阻抗控制参数优化为研究对象,提出了基于复合粒子速度调节改进的粒子群优化算法。改进的粒子群优化算法引入欧式归一化速度调节参数、增加阶段性惯性权重重置和幂函数调节机制,平衡种群探索和开发能力。通过算法改进前后对基础函数的寻优效果对比,验证改进的粒子群优化算法的优越性。基于MATLAB软件Simulink工具箱搭建阻抗控制仿真平台,分析不同方法求解下控制参数优化效果。结果表明改进的粒子群优化算法优化后的参数具有更优的控制效果,进一步降低控制过程中的接触力和位置误差,提高人机交互柔顺性。To improve the human-machine interaction performance of lower exoskeleton robot,an improved algorithm based on composite particle velocity regulation particle swarm optimization was proposed to optimize position-based impedance control parameters.To adjust the ability of population exploration and development,a euclidean distance normalized speed adjustment parameter,staged inertia parameter reset mechanism and a power function adjustment strategy were introduced into the improved particle swarm algorithm.The superiority of improved particle swarm algorithm was verified by comparing the optimization effect of basic function before and after the algorithm improvement.A impedance control simulation platform was built based on MATLAB Simulink toolbox to analyze the control optimization effects of parameters under different methods.The result demonstrate that optimized parameters of improved particle swarm algorithm have better control effect,further reduce the contact force and position error in the control process,improve the flexibility of human-computer interaction.

关 键 词：下肢外骨骼机器人 阻抗控制 参数优化 粒子群优化算法 复合粒子速度调节 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]