本文關(guān)鍵詞： 全方向康復(fù)步行訓(xùn)練機(jī)器人 隨機(jī)參數(shù) 自適應(yīng)容錯(cuò)控制 輸出反饋控制　出處：《沈陽(yáng)工業(yè)大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著高齡人口增多,腦神經(jīng)系統(tǒng)疾病及運(yùn)動(dòng)神經(jīng)系統(tǒng)疾病導(dǎo)致步行障礙患者逐年增加,由于醫(yī)護(hù)資源的有限性,使下肢康復(fù)機(jī)器人得到了發(fā)展�？祻�(fù)機(jī)器人具有高度非線性和強(qiáng)耦合性,在跟蹤醫(yī)生指定訓(xùn)練軌跡時(shí)由于受到重心偏移、執(zhí)行器故障、速度傳感器測(cè)量的準(zhǔn)確性、位移傳感器測(cè)量信息的完整性等因素影響,很難獲得精確的軌跡跟蹤。為了提高下肢康復(fù)機(jī)器人的跟蹤精度,本論文以一種全方向康復(fù)步行訓(xùn)練機(jī)器人為研究對(duì)象,基于隨機(jī)控制理論研究軌跡跟蹤問題,主要內(nèi)容如下:通過(guò)將重心偏移引起的隨機(jī)參數(shù)轉(zhuǎn)化為隨機(jī)擾動(dòng),并與隨機(jī)理論相結(jié)合,得到了全方向康復(fù)步行訓(xùn)練機(jī)器人的隨機(jī)模型;基于此模型設(shè)計(jì)了狀態(tài)反饋控制器,使跟蹤誤差系統(tǒng)指數(shù)均方一致穩(wěn)定,并通過(guò)調(diào)整控制器參數(shù),使跟蹤誤差及其導(dǎo)數(shù)趨于零附近的任意小鄰域內(nèi);數(shù)值仿真結(jié)果說(shuō)明了狀態(tài)反饋控制器可以使得全方向康復(fù)步行訓(xùn)練機(jī)器人精確跟蹤預(yù)定的軌跡。將發(fā)生故障的執(zhí)行器從隨機(jī)模型的控制矩陣中進(jìn)行分離,將其視為外部的有界擾動(dòng),并基于隨機(jī)穩(wěn)定性判據(jù)設(shè)計(jì)了一個(gè)自適應(yīng)容錯(cuò)控制器;穩(wěn)定性分析證明了通過(guò)這個(gè)控制器的作用,可以使得跟蹤誤差系統(tǒng)指數(shù)均方一致穩(wěn)定,并通過(guò)控制器參數(shù)和自適應(yīng)率參數(shù)的調(diào)整,可以使得跟蹤誤差和它的導(dǎo)數(shù)趨于零附近的任意小鄰域內(nèi);仿真結(jié)果說(shuō)明了基于隨機(jī)模型設(shè)計(jì)的自適應(yīng)容錯(cuò)控制器可以同時(shí)應(yīng)對(duì)重心偏移和執(zhí)行器故障。建立了描述不完整輸出信息的數(shù)學(xué)模型,基于該模型進(jìn)行了輸出觀測(cè)器的設(shè)計(jì);基于速度觀測(cè)器信息,設(shè)計(jì)了輸出反饋控制器;穩(wěn)定性分析證明了由輸出觀測(cè)誤差、速度觀測(cè)誤差、軌跡跟蹤誤差組成的閉環(huán)系統(tǒng)是指數(shù)均方一致穩(wěn)定的,并通過(guò)調(diào)整參數(shù)可以使這些誤差和它的導(dǎo)數(shù)趨于零附近的任意小鄰域內(nèi);數(shù)例仿真結(jié)果說(shuō)明了輸出觀測(cè)器、速度觀測(cè)器、輸出反饋控制器的有效性。
[Abstract]:With the increase of the elderly population, the number of patients with walking disorders caused by brain and motor nervous system diseases has increased year by year. Due to the limited medical care resources, The rehabilitation robot has a high nonlinear and strong coupling, because of the deviation of the center of gravity, the fault of the actuator, the accuracy of the speed sensor measurement when tracking the training track specified by the doctor. In order to improve the tracking accuracy of the lower limb rehabilitation robot, a kind of omnidirectional rehabilitation walking robot is taken as the research object, because of the influence of such factors as the integrality of measurement information of displacement sensor, it is difficult to obtain accurate track tracking. The trajectory tracking problem is studied based on stochastic control theory. The main contents are as follows: by transforming the random parameters caused by barycenter deviation into random perturbation and combining with stochastic theory, the random model of omnidirectional rehabilitation walking robot is obtained. Based on this model, a state feedback controller is designed to make the tracking error system exponentially mean square uniformly stable, and by adjusting the controller parameters, the tracking error and its derivative tend to any small neighborhood near zero. The numerical simulation results show that the state feedback controller can accurately track the predetermined trajectory of the omnidirectional walking robot and separate the actuator from the control matrix of the stochastic model. An adaptive fault-tolerant controller is designed based on random stability criterion, which is regarded as an external bounded disturbance, and the stability analysis proves that the tracking error system can be exponentially uniformly stable by the use of the controller. By adjusting the parameters of the controller and the adaptive rate, the tracking error and its derivative tend to be within any small neighborhood near zero. The simulation results show that the adaptive fault-tolerant controller based on stochastic model can deal with both gravity center offset and actuator fault. A mathematical model describing incomplete output information is established and the output observer is designed based on the model. The output feedback controller is designed based on the information of the speed observer, and the stability analysis proves that the closed-loop system composed of the output observation error, the velocity observation error and the trajectory tracking error is exponentially mean square uniformly stable. By adjusting the parameters, these errors and their derivatives tend to be in any small neighborhood near zero. The simulation results show the effectiveness of the output observer, the speed observer and the output feedback controller.
【學(xué)位授予單位】：沈陽(yáng)工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242

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