下肢负重外骨骼控制系统的设计与研究

发布时间：2018-04-17 07:45

本文选题：下肢负重 + 人机行为交互　；参考：《电子科技大学》2017年硕士论文

【摘要】：下肢负重外骨骼,是一种可穿戴式仿人外骨骼机械动力装置。与传统机器人的控制方式不同,下肢负重外骨骼是一种以机器为助力载体,人为控制主体,高度人机耦合的复杂力随动系统,主要用于增强人的下肢力量,帮助人类完成重载负荷运动和下肢残疾人士辅助行走等活动。本文针对下肢负重外骨骼中存在的人机耦合运动舒适性问题,分析人体下肢运动规律,研究人机交互行为感知方法和人机电液耦合控制方法,并在样机上进行实验验证。本文首先调研了当前国内外对下肢外骨骼和人体生物运动规律的研究动态,并进一步分析其中所采用的感知方法和控制方法。基于人体运动学,对人体下肢的运动模式和步态周期进行分析。通过光学式运动捕捉系统,进行人体运动实验,采集下肢各关节在行走和起蹲过程中的运动数据。根据实验所得数据,基于人体行为与步态运动的规律,识别人体典型动作模式及其步态相位,通过机器自学习方法,并结合实际的工程应用,给出模式切换以及步态相位预判方法,解决样机跟随人运动的实时性。根据液压动力实验,分析了外骨骼在不同的运动模式下所需要的油源压力和泵输出流量,并根据电机所处的不同运动状态对其转速和扭矩进行控制。针对实验所用样机的单作用液压缸,分别研究了位置、速度和力三个方面的控制方法,具体分析了各个控制方法下的期望曲线的设计、控制指令的设计和控制回路的设计,保证回路的稳定性和快速响应能力。最后,对人机重载携行条件下的步态识别方法和位置伺服控制方法进行仿真与实验论证,对行走5个子相进行了有效识别,并对负载60kg行走和空载站立、行走、下蹲、起蹲几种模式的切换过程进行了实验,验证了设计的控制方法的可靠性。本文采用泵阀联合控制策略实现了液压系统节能控制,并通过人机重载携行实验,验证感知和控制方法的正确性和可靠性,为“力量增强型动力外骨骼”的深入研究提供理论支撑和工程验证。
[Abstract]:Lower limb exoskeleton is a wearable humanoid exoskeleton mechanical power device.Different from the traditional robot, the exoskeleton of lower limb is a complex force follower system, which is mainly used to enhance the strength of human lower extremity.To help people to complete heavy load exercise and lower extremity disabled people assisted walking and other activities.Aiming at the problem of human-computer coupling motion comfort in lower extremity load exoskeleton, this paper analyzes the movement law of human lower extremity, studies the methods of man-machine interaction behavior perception and human electromechanical and hydraulic coupling control, and carries out the experimental verification on the prototype.In this paper, the current research trends of lower extremity exoskeleton and human biological motion are investigated, and the perceptual methods and control methods are analyzed.Based on human kinematics, the movement mode and gait cycle of human lower limbs are analyzed.Through the optical motion capture system, the human body motion experiment was carried out, and the motion data of the lower extremity joints during walking and squatting were collected.According to the experimental data, based on the rules of human behavior and gait movement, the typical human movement pattern and gait phase are identified.The method of mode switching and gait phase prediction is presented to solve the real-time performance of the prototype.According to the hydraulic power experiment, the oil source pressure and pump output flow of exoskeleton in different motion modes are analyzed, and the rotational speed and torque of the motor are controlled according to the different motion state of the motor.Aiming at the single acting hydraulic cylinder of the experimental prototype, the control methods of position, speed and force are studied, and the design of expected curve, the design of control instruction and the design of control loop under each control method are analyzed in detail.To ensure the stability of the loop and the ability to respond quickly.Finally, the gait recognition method and position servo control method under the condition of man-machine heavy load carrying line are simulated and proved by experiments, and the five sub-phases of walking are effectively identified, and the load 60kg walking and no-load standing, walking, squat, and so on are also discussed.Experiments were carried out to verify the reliability of the proposed control method.In this paper, the combined control strategy of pump and valve is used to realize the energy-saving control of hydraulic system, and the correctness and reliability of the sensing and control methods are verified by the man-machine carrying experiment.It provides theoretical support and engineering verification for the further study of force-enhanced dynamic exoskeleton.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH781;TP273

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