基于趋近律的下肢外骨骼机器人滑模控制研究  

Sliding mode control study of lower limb exoskeleton robot based on reaching law

作　　者：牟如强 李乐 郑才国[1] MOU Ruqiang;LI Le;ZHENG Caiguo(Department of Automation Engineering,The Engineering&Technical College of Chengdu University of Technology,Leshan 614000,China;Substation Operation and Maintenance Room,State Grid Leshan Power Supply Company,Leshan 614000,China)

机构地区：[1]成都理工大学工程技术学院自动化工程系,四川乐山614000 [2]国网乐山供电公司变电运维室,四川乐山614000

出　　处：《传感器与微系统》2023年第8期18-21,共4页Transducer and Microsystem Technologies

基　　金：乐山市科技局重点研发项目(19GZD050);成都理工大学工程技术学院院级基金资助项目(C122019022)。

摘　　要：针对下肢外骨骼机器人(LLER)尺寸调节不连续和跟踪精度低的问题,设计了一种变尺寸LLER。采用UG NX建立了LLER三维模型,采用3D打印制作了LLER实物;利用拉格朗日法建立了LLER动力学方程,采用趋近律方法建立了LLER滑模控制器;采用Simulink对LLER进行了动力学仿真。仿真结果表明:髋、膝关节的关节角位移误差不超过2.3°,关节角速度变化平稳,关节驱动转矩无明显冲击。控制参数k,ε的大小影响LLER关节角位移跟踪误差、起动转矩和驱动转矩的幅值,且2个控制参数相互制约。Aiming at the problems of discontinuous size adjustment and low tracking precision of the lower limb extremity exoskeleton robot(LLER),a variable-size LLER is designed.The three-dimensional(3D)model of LLER is established by UG NX,and the real object of LLER is made by 3D printing.Then,the dynamic equation of LLER is established by Lagrange method,and the sliding mode controller of LLER is established by reaching law method.Finally,the dynamics simulation of LLER is carried out by Simulink.The simulation results show that the joint angular displacement error of the hip and knee joints is no more than exceed 2.3°,the joint angular velocity changes smoothly,and the joint driving torque has no obvious impact.The control parameters k andεaffect the amplitude of tracking error of the joint angular displacement,starting torque and driving torque,and the two control parameters restrict each other.

关 键 词：下肢外骨骼机器人 动力学方程 趋近律方法 跟踪精度 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]