下肢外骨骼机器人动力学及自抗扰控制研究

Research on the Dynamics and Active Disturbance Rejection Control of the Lower Limb Exoskeleton Robot

为增强下肢障碍人群在被动训练阶段,使用下肢康复外骨骼时的轨迹跟踪控制精度及系统的抗干扰性,设计了自抗扰控制(Active disturbance rejection control,ADRC)策略,可将未建模部分和外部不确定性干扰视作总扰动,并设计了补偿环节进行补偿以抑制干扰的影响。根据下肢外骨骼机器人的结构推导出了动力学方程,并根据方程设计了自抗扰控制器的各个环节。最后通过MATLAB/Simulink仿真来观察所设计控制器的效果,并与传统PID方法进行对比,验证了所设计的ADRC控制方案具有更高的控制精度和更好的抗干扰性能。

To enhance the trajectory tracking control accuracy and the system's anti-disturbance when using the lower limb rehabilitation exoskeleton for people with lower limb impairments during the passive training phase,the Active disturbance rejection control(ADRC)strategy had been designed,which can regard the unmodelled part and the external uncertainty disturbances as the total disturbances,and the compensation link had been designed to compensate for them to suppress the effect of disturbance.The dynamics equations were derived based on the structure of the lower limb exoskeleton robot,and the various aspects of the self-resistant controller are designed based on the equations.Finally,MATLAB/Simulink simulation was used to observe the effect of the designed controller and compared with the traditional PID method to verify that the designed ADRC control scheme has higher control accuracy and better anti-interference performance.