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下肢负荷外骨骼需要在变负载情况下实现助力的功能,外骨骼应能准确地跟踪人体的期望运动轨迹。为此,基于系统的动力学模型,提出了鲁棒自适应PD控制方法。该方法将系统外界的干扰、关节摩擦和噪声统一为上确界已知的干扰项,在控制器设计时引入中间变量,计算出以关节变量为参数的回归矩阵和一个描述外骨骼质量特性的未知定常参数向量,利用回归矩阵和引入的中间变量设计自适应律。仿真结果表明,外骨骼能够准确跟踪上期望的运动轨迹,系统的鲁棒性得到改善,实现了系统变负载控制的目的。
Lower extremity load exoskeleton needs to be boosted at varying loads, and exoskeletons should be able to accurately track the human body’s desired trajectory. Therefore, based on the system dynamics model, a robust adaptive PD control method is proposed. This method unifies the external disturbances, joint friction and noise of the system into the known disturbances in the upper bound. The intermediate variables are introduced into the controller design to calculate the regression matrix with joint variables as a parameter and a description of the exoskeleton quality characteristics Unknown constant vector of unknown parameters, the use of regression matrix and the introduction of the intermediate variable design adaptive law. The simulation results show that the exoskeleton can accurately track the desired trajectory, the robustness of the system is improved, and the purpose of variable load control is achieved.