全方向康复步行训练器的可靠轨迹跟踪控制  

Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker

作　　者：孙平[1] 周晓舟[1] 薛伟霖 杨德国[2] 

机构地区：[1]沈阳工业大学信息科学与工程学院,沈阳110870 [2]沈阳工业大学软件学院,沈阳110870

出　　处：《控制工程》2016年第4期597-601,共5页Control Engineering of China

基　　金：辽宁省高等学校优秀人才支持计划(LJQ2014013);辽宁省自然科学基金(2015020066)

摘　　要：全方向康复步行训练器(Omnidirectional Rehabilitative Training Walker,简称步行器)在实际使用过程中,某个执行电机可能会发生安全失效,从而影响训练者的安全。针对这种问题,基于冗余自由度思想,采用封锁故障执行器的方法,解决了全方向康复步行训练器的可靠轨迹跟踪控制问题。此方法避免了常规容错控制方法估计故障的保守性,利用无故障执行器实现了康复者的安全跟踪训练。通过构造Lyapunov函数,保证了跟踪误差系统在全局坐标系下的渐近稳定性,并得到了可靠控制器的表达形式。仿真结果表明,当某一个执行器发生故障时,所设计的控制器能实现步行器的稳定运行,保障康复者的安全。The actuator motors may lose their effectiveness during the actual applications for omnidirectional rehabilitative training walker, thus will affect the safety of trainers. Based on the redundant degrees of freedom theory, the reliable tracking control is studied to solve this problem by blocking the fault actuators. The conservative fault-estimation of the conventional fault-tolerant control method is avoided and the faultless actuators are designed for the achievement of secure tracking training. Furthermore, by constructing the Lyapunov function, the asymptotic stability of the error tracking system is ensured in global coordinate system, and expression of the reliable controller is derived. Finally, the simulation confirms the stability of the walker and the safety of the patients when a certain actuator malfunctioned.

关 键 词：全方向康复步行训练器 可靠轨迹跟踪控制 冗余自由度 故障执行器 渐近稳定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TH789[自动化与计算机技术—控制科学与工程]