外骨骼机器人自适应轨迹跟踪控制系统研究  

Research on Adaptive Trajectory Tracking Control System of Exoskeleton Robot

作　　者：张淑璐 张志利 孙鹏 马晓明 ZHANG Shulu;ZHANG Zhili;SUN Peng;MA Xiaoming(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,School of Mechanical Engineering,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China;Intelligent Manufacturing College,Tianjin Sino-German University of Applied Sciences,Tianjin 300350,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384 [3]天津中德应用技术大学智能制造学院,天津300350

出　　处：《机械设计与制造》2025年第1期296-301,共6页Machinery Design & Manufacture

基　　金：天津市高等学校创新团队培养计划(TD13-5094);天津市教委科研计划重点项目(2019ZD22);天津中德应用技术大学科技培育项目(zdkt2020-005);天津市企业科技特派员项目(20YDTPJC00550)。

摘　　要：针对长时间远距离行走疲劳、下肢瘫患者行走困难等问题,设计一套下肢助力装置,实时辅助穿戴者行走。首先基于人体下肢数据,在Solidworks中完成下肢外骨骼三维建模及参数优化,将模型导入到Adams中,耦合后添加运动规划,仿真验证外骨骼的运动学和人机协同性能,为下一步控制系统设计提供数学理论依据。在基于模型的位置反馈控制器中实现了模糊控制,并对末端执行器在受扰情况下的轨迹跟踪特性进行了仿真模拟。进而搭建下肢关节步态仿真系统,实验验证动力学模型的有效性以及控制系统的稳定性。实验结果表明,该控制器在处理非线性和扰动方面比常规PID控制和模糊控制模式有效,可更快速和准确地完成对步态曲线的跟踪。For the problems such as fatigue of long distance walking and difficulty of lower limb paralysis patients,a lower limb assist device is designed to assist the wearer to walk in real time.Firstly,based on the human lower limb data,the 3D modelling of the lower limb exoskeleton and parameter optimisation are completed in Solidworks,the model is imported into Adams,coupled and motion planning is added,and the simulation verifies the kinematics and human-machine synergy performance of the exoskeleton to provide a mathematical theoretical basis for the next control system design.Fuzzy control is implemented in the model-based position feedback controller and the trajectory tracking characteristics of the end-effector under perturbed conditions are simulated.In turn,a lower limb joint gait simulation system is built to experimentally verify the validity of the dynamics model and the stability of the control system.Experimental results show that the controller is more effective than conventional PID control and fuzzy control modes in handling non-linearities and perturbations,allowing for faster and more accurate tracking of the gait profile.

关 键 词：下肢助力 ADAMS仿真 运动学 模糊控制 

分 类 号：TH16[机械工程—机械制造及自动化]