本文關(guān)鍵詞： 液壓驅(qū)動(dòng)下肢外骨骼 結(jié)構(gòu)優(yōu)化 逆雅克比矩陣 人機(jī)交互系統(tǒng) 多傳感器系統(tǒng) 滑模變結(jié)構(gòu)控制 模糊控制 自適應(yīng)控制　出處：《浙江大學(xué)》2017年博士論文　論文類型：學(xué)位論文

【摘要】：下肢外骨骼機(jī)器人的樣機(jī)在最近幾年不斷涌現(xiàn),目前主要應(yīng)用在助力及康復(fù)訓(xùn)練等領(lǐng)域,其作為典型的人機(jī)交互型機(jī)器人,涉及機(jī)構(gòu)學(xué)、電子技術(shù)、計(jì)算機(jī)技術(shù)、控制技術(shù)、信息技術(shù)、傳感技術(shù)、人工智能和仿生學(xué)等多學(xué)科知識(shí)。液壓驅(qū)動(dòng)下肢外骨骼機(jī)器人是一個(gè)典型的非線性系統(tǒng),因此如何實(shí)現(xiàn)與穿戴者進(jìn)行友好的人機(jī)交互,充分發(fā)揮穿戴者運(yùn)動(dòng)的靈活性以及外骨骼設(shè)備的耐力將是一個(gè)系統(tǒng)研究的課題。第一章通過廣泛的國內(nèi)外調(diào)研發(fā)現(xiàn),闡述了課題研究的背景和意義。第二章,首先借助于CAD輔助設(shè)計(jì)軟件、數(shù)值計(jì)算方法等工具實(shí)現(xiàn)參數(shù)的優(yōu)化選擇,并使用SolidWorks軟件進(jìn)行了三維繪圖;其次設(shè)計(jì)了液壓系統(tǒng)和電控系統(tǒng),完成了液壓驅(qū)動(dòng)下肢外骨骼平臺(tái)的搭建。第三章,對擺動(dòng)腿的運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)建模,便于設(shè)計(jì)基于模型的上層控制器;通過建立單關(guān)節(jié)液壓缸的非線性模型,設(shè)計(jì)了三種底層力跟蹤控制器;針對傳統(tǒng)DLS方法在解決下肢外骨骼擺動(dòng)腿雅可比矩陣奇異性問題時(shí)所引發(fā)的新問題,提出了三種改進(jìn)方法,并通過MATLAB進(jìn)行了仿真驗(yàn)證。第四章,首次提出將獲取人體運(yùn)動(dòng)意圖的方法分為兩層:第一層主要實(shí)現(xiàn)對步態(tài)的判別,因此設(shè)計(jì)了多傳感器鞋底;第二層實(shí)現(xiàn)對人體運(yùn)動(dòng)意圖物理信息的獲取,在人機(jī)之間安裝多維力傳感器,并且引入導(dǎo)納模型作為推導(dǎo)人體運(yùn)動(dòng)意圖的方法,實(shí)現(xiàn)人機(jī)交互力與人體運(yùn)動(dòng)意圖物理信號(hào)的建模。最后,搭建了人機(jī)交互系統(tǒng)擺動(dòng)相的控制系統(tǒng),明確了上層控制算法與底層單關(guān)節(jié)液壓缸力跟蹤控制器的不同應(yīng)用點(diǎn)。第五章,針對下肢外骨骼機(jī)器人系統(tǒng)的非線性和系統(tǒng)中不確定因素的干擾,引入了滑模變結(jié)構(gòu)控制器。為了減小系統(tǒng)穩(wěn)態(tài)跟蹤誤差,引入了積分滑模面。針對傳統(tǒng)的積分滑模面容易引起Windup效應(yīng),出現(xiàn)超調(diào)或執(zhí)行器飽和,提出了兩種改進(jìn)方法。并且采用趨近律的以改善趨近運(yùn)動(dòng)的動(dòng)態(tài)品質(zhì),最后通過MATLAB仿真驗(yàn)證了系統(tǒng)性能。為了改善系統(tǒng)的平滑性,提高系統(tǒng)的魯棒性,引入模糊系統(tǒng)以逼近干擾力矩,避免了因隨意對干擾力進(jìn)行估值所造成的系統(tǒng)波動(dòng)。第六章,考慮到對于復(fù)雜的非線性系統(tǒng),難以獲取準(zhǔn)確的動(dòng)力學(xué)模型。提出了一種基于單輸入的模糊自適應(yīng)滑模變結(jié)構(gòu)控制器,通過利用模糊系統(tǒng)的逼近特性和自適應(yīng)控制的強(qiáng)魯棒性來設(shè)計(jì)滑模變結(jié)構(gòu)控制器,從而降低控制器對模型的依賴性。第七章,對論文的主要研究工作進(jìn)行了總結(jié),并且描述了相關(guān)創(chuàng)新點(diǎn)。
[Abstract]:The prototype of exoskeleton robot of lower limb has been emerging in recent years. At present, it is mainly used in the fields of assistance and rehabilitation training. As a typical human-computer interactive robot, it involves mechanism, electronic technology, computer technology, control technology, etc. Information technology, sensing technology, artificial intelligence, bionics and other multidisciplinary knowledge. Hydraulic drive exoskeleton robot is a typical nonlinear system, so how to achieve friendly man-machine interaction with the wearer, It will be a systematic research topic to give full play to the exercise flexibility of the wearer and the endurance of exoskeleton equipment. Chapter one, through extensive domestic and international investigation and discovery, expounds the background and significance of the research. First of all, the parameters are optimized by means of CAD aided design software and numerical calculation method, and the 3D drawing is carried out by using SolidWorks software. Secondly, the hydraulic system and electric control system are designed. In the third chapter, the kinematics and dynamics of the swing leg are modeled to facilitate the design of the upper controller based on the model, and the nonlinear model of the single joint hydraulic cylinder is established. In order to solve the problem of Jacobian matrix singularity of exoskeleton swinging leg in lower extremity, three improved methods are proposed and verified by MATLAB. Chapter 4th. For the first time, the method of obtaining human motion intention is divided into two layers: the first layer mainly realizes the discrimination of gait, so a multi-sensor sole is designed, and the second layer realizes the acquisition of physical information of human motion intention. A multi-dimensional force sensor is installed between man and machine, and the admittance model is introduced as the method to deduce the motion intention of human body. Finally, the physical signal of human-computer interaction and human motion intention is modeled. The control system of the oscillating phase of the man-machine interactive system is built, and the different application points of the upper control algorithm and the bottom single joint hydraulic cylinder force tracking controller are clarified. Chapter 5th, Aiming at the nonlinearity of exoskeleton robot system and the disturbance of uncertain factors in the system, a sliding mode variable structure controller is introduced. In order to reduce the steady-state tracking error of the system, a sliding mode variable structure controller is introduced. In this paper, the integral sliding mode surface is introduced. In view of the Windup effect caused by the traditional integral sliding mode surface, overshoot or actuator saturation, two improved methods are proposed, and the approach law is adopted to improve the dynamic quality of the approaching motion. Finally, the system performance is verified by MATLAB simulation. In order to improve the smoothness and robustness of the system, the fuzzy system is introduced to approximate the disturbance torque, and the system fluctuation caused by the random estimation of the disturbance force is avoided. Chapter 6th, Considering that it is difficult to obtain accurate dynamic model for complex nonlinear systems, a fuzzy adaptive sliding mode variable structure controller based on single input is proposed. By using the approximation property of fuzzy system and the strong robustness of adaptive control, a sliding mode variable structure controller is designed to reduce the dependence of the controller on the model. Chapter 7th, the main research work of this paper is summarized. And describes the relevant innovation points.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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