新型顺应式致动器的设计、建模和优化控制

IF 5.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Zhongbo Sun , Changxian Xu , Jian Gu , Liming Zhao , Yunfeng Hu
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引用次数: 0

摘要

为了避免人机对抗,在使用上肢外骨骼机器人进行康复训练时,有必要为中风患者创造一个安全、准确和稳定的康复环境。考虑到这些要求,本研究提出了一种基于扭转弹簧装置和线性弹簧装置的新型顺应式致动器。建立动力学模型和控制算法是新型机械结构的挑战性任务。首先,简化了顺应式致动器的机械结构,并考虑了齿轮系之间的相互作用力以建立动力学模型。其次,根据动力学模型设计最优控制方案,并从理论上证明推杆系统的稳定性。第三,通过比较仿真证明了最优控制方案可确保对顺变推杆进行精确稳定的轨迹跟踪。实验结果验证了所提出的最优控制方案能使顺应式致动器在不同工况下完成轨迹跟踪,同时也验证了扭簧装置的缓冲和自我保护性能。此外,通过在基于顺应致动器的上肢外骨骼机器人上进行轨迹跟踪实验,进一步验证了优化控制方案的跟踪精度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design, modeling and optimal control of a novel compliant actuator

To avoid human–robot confrontation, it is necessary to create a safe, accurate and stable rehabilitation environment for stroke patients when using upper limb exoskeleton robots for rehabilitation training. Considering these requirements, this work presents a novel compliant actuator based on torsion spring devices and linear spring devices. The establishment of dynamics model and control algorithm are challenging tasks for the novel mechanical structure. Firstly, the mechanical structure of the compliant actuator is simplified, and the interaction forces between gear trains are considered to establish the dynamics model. Secondly, the optimal control scheme is designed based on the dynamics model, and the stability of the actuator system is proved theoretically. Thirdly, it has been demonstrated that the optimal control scheme ensures precise and stable trajectory tracking for the compliant actuator through comparative simulations. The experimental results verify that the proposed optimal control scheme can enable the compliant actuator to complete trajectory tracking under different working conditions, as well as the buffering and self-protection performance of the torsion spring devices. In addition, the tracking accuracy of the optimal control scheme is further verified by conducting trajectory tracking experiments on the compliant actuator-based upper limb exoskeleton robot.

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来源期刊
Control Engineering Practice
Control Engineering Practice 工程技术-工程:电子与电气
CiteScore
9.20
自引率
12.20%
发文量
183
审稿时长
44 days
期刊介绍: Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.
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