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全方向康复步行训练器(Omnidirectional Rehabilitative Training Walker,简称步行器)在实际使用过程中,某个执行电机可能会发生安全失效,从而影响训练者的安全。针对这种问题,基于冗余自由度思想,采用封锁故障执行器的方法,解决了全方向康复步行训练器的可靠轨迹跟踪控制问题。此方法避免了常规容错控制方法估计故障的保守性,利用无故障执行器实现了康复者的安全跟踪训练。通过构造Lyapunov函数,保证了跟踪误差系统在全局坐标系下的渐近稳定性,并得到了可靠控制器的表达形式。仿真结果表明,当某一个执行器发生故障时,所设计的控制器能实现步行器的稳定运行,保障康复者的安全。
Omnidirectional Rehabilitative Training Walker (Walker) In actual use, the safety of a running motor may be compromised, affecting the trainer’s safety. To solve this problem, based on the idea of redundant degrees of freedom, the method of blockade fault actuator is adopted to solve the problem of reliable trajectory tracking control of omnidirectional rehabilitation walking trainer. This method avoids the traditional fault-tolerant control method to estimate the conservativeness of the fault, and implements the safety tracking training of the rehabilitation using the fault-free actuator. By constructing Lyapunov function, the asymptotic stability of the tracking error system in the global coordinate system is guaranteed and a reliable controller expression is obtained. The simulation results show that when one actuator fails, the designed controller can achieve the stable operation of the walker and ensure the safety of the rehabilitation.