基于自适应鲁棒控制的电动爬楼轮椅车研究  

Research of Electric Stair-Climbing Wheelchair Based on Adaptive Robust Control

作　　者：鲍成 刘芳华[2] 余成龙[1] 邱雨 BAO Cheng;LIU Fang-hua;YU Cheng-long;QIU Yu(School of Mechanical and Electric Engineering,Anqing Vocational and Technical College,Anqing 246003,Anhui,China;School of Mechanical Engineering,Jiangsu University of Science andTechnology,Zhenjiang 212100,Jiangsu,China)

机构地区：[1]安庆职业技术学院机电工程学院,安徽安庆246003 [2]江苏科技大学机械工程学院,江苏镇江212100

出　　处：《兰州文理学院学报（自然科学版）》2024年第5期72-78,共7页Journal of Lanzhou University of Arts and Science(Natural Sciences)

基　　金：国家自然科学基金项目(62002141);安徽省自然科学研究项目(2022AH052605)。

摘　　要：针对国内外各种电动爬楼轮椅存在的结构复杂、功能单一和控制精度不高等问题,提出一种基于自适应鲁棒控制的轮腿式多功能爬楼轮椅车方案.首先,从电动轮椅常用模式出发,按照轮腿式结构和行星齿轮组特点,设计了一种双行星轮组的轮椅机构,可以实现行驶、升降、爬楼3种功能;然后,根据爬楼轮椅工作的3个过程,建立了机器人运动学模型,得到了机构运动学求解公式;在Adams中通过模型动作编写了step函数,仿真得到机构爬楼运动轨迹,验证其满足爬楼越障所需要求;最后,设计了一种自适应鲁棒滑模控制器,得到轮椅角度和速度跟踪曲线、控制输入曲线,验证了其控制策略的合理性,为后期样机搭建奠定了基础.Aiming at the problems existing in various electric stair-climbing wheelchair at domestic and abroad,such as complex structure,single function and low control accuracy,a wheel-legged multifunctional stair-climbing wheelchair based on adaptive robust control was proposed.Firstly,starting from the common mode of electric wheelchair,a wheelchair mechanism with double planetary gear sets was designed according to the characteristics of the wheel-leg structure and the planetary gear set,aiming at better meeting the various needs of users.According to the three working processes of the stair-climbing wheelchair,the robot kinematics model was established,and the mechanism kinematics solution formula was obtained.In Adams,the step function was written through the model action,and the motion trajectory of the mechanism’s climbing stairs was obtained through simulation,and it was verified that it met the requirements for climbing stairs and overcoming obstacles.Finally,the control strategy of the wheelchair balance system was studied through Simulink,and an adaptive robust sliding mode controller was designed,the angle and velocity tracking curve and control input curve of the wheelchair were obtained,and the rationality of its control strategy was verified,which laid the foundation for the later prototype construction.

关 键 词：轮腿式轮椅 爬楼 行星轮组 运动学仿真 自适应鲁棒控制 

分 类 号：TH113.2[机械工程—机械设计及理论]