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为帮助宇航员在失重环境中进行卧推训练,提出了一种基于并联柔索驱动机构的宇航员康复训练机器人.针对系统内部和外部扰动都比较大的问题,在对单个柔索驱动单元进行动力学分析的基础上,提出了基于自抗扰控制技术的宇航员康复训练机器人力控制器.为了验证自抗扰控制器的性能,通过与PID控制对比,进行了仿真实验.实验结果表明:该控制器具有良好的动、静态性能,抗干扰能力强,对内部参数变化具有很强的鲁棒性.
In order to help astronauts perform bench press training in weightlessness environment, an astronaut rehabilitation training robot based on parallel flexible cable drive mechanism is proposed.In order to solve the problem of large internal and external disturbances in system, Based on the dynamic analysis, a force controller for the astronaut rehabilitation training robot based on ADR control is proposed. In order to verify the performance of the ADRC controller, a simulation experiment is carried out by comparing with the PID control. The experimental results show that: The controller has good dynamic and static performance, anti-interference ability, with strong changes in the internal parameters of the robustness.