四连杆磁流变假肢设计及迭代学习轨迹跟踪控制  

Design and iterative learning trajectory tracking control of four-link magnetorheological prosthesis

作　　者：赵金鹏 胡国良 余雷 喻理梵 李刚 ZHAO Jin-peng;HU Guo-liang;YU Lei;YU Li-fan;LI Gang(Key Laboratory of Conveyance and Equipment,Ministry of Education,East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]华东交通大学载运工具与装备教育部重点实验室,江西南昌330013

出　　处：《磁性材料及器件》2023年第5期34-40,共7页Journal of Magnetic Materials and Devices

基　　金：国家自然科学基金项目(52165004);江西省自然科学基金重点项目(20212ACB204002);江西省重点研发计划重点项目(20212BBE51009)。

摘　　要：为提高智能假肢行走步态的仿生性以及复杂运动的能力,采用磁流变阻尼器(MRD)作为制动器设计了一种新型四连杆假肢膝关节。首先根据人体肢体尺寸及平地行走的步态数据,对四连杆磁流变假肢膝关节进行结构设计,并建立其动力学模型。利用仿真得到的MRD性能曲线,建立其逆向力学模型。为解决四连杆假肢建模复杂、跟踪精度低以及周期性扰动的问题,设计迭代学习控制器,并对其收敛性进行分析。通过仿真测试得到迭代学习控制下的磁流变假肢膝关节轨迹跟踪最大误差仅为1.6°,实现了对期望轨迹的精准跟踪。To improve the bionic of the intelligent prosthetic walking gait and the ability of complex motion,a novel four-link prosthetic knee joint was designed using a magnetorheological damper(MRD)as brakes.Firstly,according to the size of human limbs and the gait data of walking on flat ground,the knee joint structure of the four-link magnetorheological prosthesis is designed,and its dynamic model is established.Using the MRD performance curve obtained by simulation,the inverse mechanical model is established.To solve the problems of complex modeling,low tracking accuracy,and periodic disturbance of four-link prosthesis,an iterative learning controller was designed and its convergence was analyzed.Through the simulation test,it is found that the maximum error of the magnetorheological prosthetic knee joint trajectory tracking under the iterative learning control is only 1.6°,which realizes the accurate tracking of the desired trajectory.

关 键 词：四连杆假肢膝关节 磁流变阻尼器 结构设计 动力学模型 迭代学习控制 

分 类 号：TH703.62[机械工程—仪器科学与技术]