动力式下肢外骨骼控制系统设计与优化

发布时间：2018-06-07 04:09

本文选题：外骨骼 + 康复辅具　；参考：《天津科技大学》2017年硕士论文

【摘要】：动力式下肢外骨骼是一款可以帮助人行走、负重、锻炼下肢肌力的可穿戴设备。它将人和机器人的优势结合起来,通过二者之间的协同合作,以达到所期望的运动要求。当今社会人口老龄化的趋势越来越严重,下肢外骨骼有助于老年人以及中风偏瘫的失能人群锻炼下肢肌肉力量,恢复肌肉活性,从而能够改善生活质量,提高生活品质。本文通过研究人体下肢运动机理并使用三维运动捕捉系统对人体下肢步态数据进行采集和分析,作为结构设计和控制系统设计的理论依据和数据支撑。对动力式下肢外骨骼的结构进行运动学和动力学分析,完成了对下肢外骨骼控制系统的设计。本论文主要完成了以下工作:1.通过比较不同驱动方式的优缺点,选择电机的驱动方式,以伺服电缸作为动力元件进行驱动。2.结合下肢外骨骼对驱动元件的控制要求,以及根据对动力元件的性能参数要求,综合国内外现有的产品,对动力元件进行设计和选型。3.完成了传感器系统的设计,能够准确测量人在穿戴设备行走时的运动信息,也保障了安全。4.控制系统的设计采用闭环控制策略,通过不断的反馈调节以达到控制要求。采用CAN总线的通讯方式,可实现各节点之间的自由通信,突破了 RS485通信只能以主站轮询方式的限制,使得控制系统的实时性和可靠性得到了明显的提高。5.设计了 PID控制算法,选择MATLAB的SIMULINK模块进行控制系统的仿真,验证控制系统设计的可行性和合理性,将模糊控制和PID控制结合起来的模糊PID控制算法对控制系统进行进一步的优化设计。本文所设计的康复训练用下肢外骨骼控制系统具有超调量小、响应速度快、自适应能力强和稳定性强的特点。
[Abstract]:Dynamic Exoskeleton is a wearable device that helps people walk, bear weight and exercise lower limb muscle strength. It combines the advantages of human and robot, through the cooperation between the two, to achieve the desired motion requirements. Nowadays, the trend of aging population is becoming more and more serious. Exoskeleton of lower extremity is helpful for the elderly and the disabled people with apoplectic hemiplegia to exercise lower limb muscle strength and restore muscle activity, thus improving the quality of life and improving the quality of life. In this paper, the movement mechanism of human lower limb is studied and the gait data of human lower limb is collected and analyzed by using 3D motion capture system, which is used as the theoretical basis and data support for structure design and control system design. The kinematics and dynamics of the exoskeleton of the lower extremity are analyzed, and the control system of exoskeleton of the lower extremity is designed. This paper mainly completed the following work: 1. By comparing the advantages and disadvantages of different driving modes, the motor drive mode is selected, and the servo electric cylinder is used as the driving element. According to the control requirements of the lower limb exoskeleton and the requirements of the performance parameters of the power components, the design and selection of the power components are carried out by synthesizing the existing products at home and abroad. The design of sensor system is completed, which can accurately measure the movement information of people walking in wearable equipment, and also ensure the safety. 4. The closed-loop control strategy is adopted in the design of the control system, and the control requirements are achieved by continuous feedback adjustment. The communication mode of CAN bus can realize the free communication among the nodes, which breaks through the limitation that the RS485 communication can only be done by the polling mode of the master station, which makes the real-time performance and reliability of the control system obviously improved .5. The PID control algorithm is designed and the SIMULINK module of MATLAB is selected to simulate the control system. The feasibility and rationality of the control system design are verified. The fuzzy PID control algorithm which combines fuzzy control and PID control is used to optimize the control system. The lower extremity exoskeleton control system designed in this paper is characterized by small overshoot, fast response, strong adaptive ability and strong stability.
【学位授予单位】：天津科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TP242

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