穿戴式步行辅助机器人的混合控制方法及其稳定性

发布时间：2018-06-05 13:45

本文选题：步行辅助 + 混合控制　；参考：《机器人》2017年04期

【摘要】：引入生物控制理论来改善步行辅助中的人机交互柔顺性和多关节协调自律控制,探索一种髋关节CPG(中枢模式发生器)控制、膝关节分级阻抗控制和髋/膝关节联动控制3部分相结合的新型混合控制方法.首先,利用CPG自激振荡行为和对外交流的特性获得理想的主/从髋关节目标轨迹,并建立CPG对称抑制网络来维持左、右髋关节逆相位,以便实现复杂人机环境中的步行稳定性.其次,根据步态要求,设计高阻抗和低阻抗分级控制规律,分别获得支撑期和游脚期的膝关节力矩.最后,通过建立髋/膝关节关联函数,建立髋关节CPG控制与膝关节阻抗控制的链接,实现步行中自然的髋/膝关节联动控制.利用李亚普诺夫稳定性理论研究了混合控制方法的稳定性,计算机仿真分析和步行实验证明了混合控制方法可有效地生成步行中自然的髋/膝关节运动.
[Abstract]:The biological control theory is introduced to improve the human-computer interaction flexibility and multi-joint coordination and self-discipline control in walking assistance, and to explore a kind of CPG (central mode generator) control for hip joint. A new hybrid control method, which combines three parts of knee joint step impedance control and hip / knee joint control, is developed. Firstly, the CPG self-excited oscillation behavior and the characteristics of external communication are used to obtain the ideal master / slave hip target trajectory, and a CPG symmetric suppression network is established to maintain the inverse phase of the left and right hip joints, so as to achieve the walking stability in complex man-machine environment. Secondly, according to the requirements of gait, the high impedance and low impedance grading control laws are designed to obtain the knee joint torque during the supporting period and the foot swimming stage, respectively. Finally, by establishing the hip / knee joint correlation function and establishing the link between the hip joint CPG control and the knee joint impedance control, the natural hip / knee joint linkage control in walking is realized. The stability of hybrid control method is studied by using Lyapunov stability theory. Computer simulation and walking experiments show that the hybrid control method can effectively generate natural hip / knee motion in walking.
【作者单位】：重庆交通大学机电与车辆工程学院;日本信州大学;
【基金】：国家自然科学基金(51505048,51305471) 重庆市基础与前沿研究计划(cstc2016jcyj A0416) 重庆市教委科学技术资助项目(KJ1500526)
【分类号】：TP242

【相似文献】