Precise trace tracking optimal control method for uncertain rehabilitation walking training robot

A walking training and trajectory tracking technology, applied in two-dimensional position/channel control, adaptive control, general control system, etc., can solve the problems affecting the accuracy of trajectory tracking

Inactive Publication Date: 2015-05-20
SHENYANG POLYTECHNIC UNIV
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Problems solved by technology

However, due to the uncertainty brought by the quality of the rehabilitation person and the system eccentricity, the trajectory tracking accuracy is seriously

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  • Precise trace tracking optimal control method for uncertain rehabilitation walking training robot
  • Precise trace tracking optimal control method for uncertain rehabilitation walking training robot
  • Precise trace tracking optimal control method for uncertain rehabilitation walking training robot

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited by the embodiments.

[0046] The present invention is an optimal control method for accurate trajectory tracking of an uncertain rehabilitation walking training robot, which establishes a dynamic model of the uncertain rehabilitation walking training robot system, and constructs a first-order low-pass filter to affect the trajectory tracking accuracy of the rehabilitation walking training robot. The uncertainty is estimated as a whole, the controller is designed based on the accurate feedback linearization method, and the linearization model of the system is established; the quadratic model of the rehabilitation walking training robot system is designed based on the trajectory tracking error, speed tracking error and energy quadratic model The performance index adopts the optimal control method to realize th...

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Abstract

The invention discloses a precise trace tracking optimal control method for an uncertain rehabilitation walking training robot. According to the method, a kinetic model of an uncertain rehabilitation walking training robot system is built, a one-order low-pass filter is built, the integral estimation is carried out on the uncertainty influencing the trace tracking precision of the rehabilitation walking training robot, a controller is designed on the basis of a precise feedback linearization method, and a linearization model of the system is built; on the basis of trace tracking errors, speed tracking errors and energy quadrics, a quadratic performance index of the rehabilitation walking training robot system is designed, the optimal control method is adopted, the precise trace tracking of the rehabilitation walking training robot is realized, and the performance index is optimized. Output high-precision PWM (pulse width modulation) signals are provided for a motor driving unit, so that the robot realizes precise tracking on reference trace signals. The control method has the advantages that the uncertainty bound of the system does not need to be known, the trace tracking precision of the rehabilitation walking training robot can be improved, and in addition, the system performance reaches the optimum.

Description

Technical field: [0001] The invention belongs to the field of control of wheeled rehabilitation robots, in particular to an optimal control method for precise trajectory tracking of an uncertain rehabilitation walking training robot. Background technique: [0002] The rehabilitation walking training robot needs to accurately track the training trajectory specified by the doctor in order to achieve a satisfactory rehabilitation effect. However, the trajectory tracking accuracy is seriously affected by the uncertainty brought about by the mass of the rehabilitation person and the system eccentricity. Therefore, it is of great significance to study the optimal control method to improve the trajectory tracking accuracy and realize the system performance. The present invention regards the uncertainty of the rehabilitation walking training robot system as a whole, and estimates it by constructing a first-order low-pass filter, so that it is not necessary to know the limit of the s...

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
Inventor 孙平周小舟薛伟霖王洲洲刘博
Owner SHENYANG POLYTECHNIC UNIV
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