Trajectory tracking error constrained safety control method for rehabilitation walking training robot
A walking training and trajectory tracking technology, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of not simultaneously constraining the trajectory tracking error in the transient phase and the steady state phase, threatening the safety of the trainer, ignoring the transient Tracking performance and other issues in the status stage
Inactive Publication Date: 2018-11-13
SHENYANG POLYTECHNIC UNIV
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Problems solved by technology
[0003] The rehabilitation walking training robot needs to track the trajectory specified by the doctor to train the patient. There have been many research results on the trajectory tracking control method of the rehabilitation robot, but these results have ignored the tracking performance in the transient phase.
The robot runs in an unknown indoor environment. If the trajectory tracking error is too large in the transient phase, the robot will collide with surrounding people or objects, threatening the safety of the trainer.
The existing research results only consider the tracking performance of the robot in the steady state stage, which leads to the limitations of these control methods in practical applications.
So far, there is no control method that constrains the trajectory tracking error in both the transient phase and the steady state phase
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[0061] As shown in the figure, the general steps of the present invention are as follows:
[0062] 1) According to the tracking error of the movement speed and movement position of the rehabilitation walking training robot to the training trajectory specified by the doctor, design a nonlinear controller, combine the dynamic model, and establish the trajectory tracking error state equation in the three directions of x, y axis and rotation angle ;
[0063] 2) Design the Lyapunov function, construct the asymptotically stable constraint conditions of each trajectory tracking error system, and obtain the solution method of the nonlinear controller parameter matrix, so that the actual trajectory of the rehabilitation walking training robot in the transient phase and steady state phase is constrained within the specified range Inside;
[0064] 3) Based on the MSP430 series single-chip microcomputer, the output PWM signal is provided to the motor drive unit, so that the rehabilitatio...
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A trajectory tracking error-constrained safety control method for a rehabilitation walking training robot belongs to the control field of wheeled rehabilitation robots, and in particular relates to a trajectory tracking error-constrained safety control method for a rehabilitation walking training robot. The invention provides a trajectory tracking error constraint safety control method of the rehabilitation walking training robot, which makes the trajectory tracking error of the rehabilitation walking training robot constrained at the same time in the transient phase and the steady state phase during the movement process. The present invention is based on the dynamics model of rehabilitation walking training robot, designs nonlinear controller, establishes the trajectory tracking error state equation of three motion directions of x, y axis and rotation angle; Based on Lyapunov stability theory, constructs each trajectory tracking error system asymptotically Stable constraint conditions, obtaining the solution method of the nonlinear controller parameter matrix, control the actual trajectory of the rehabilitation walking training robot in the transient phase and the steady state phase within the specified range, and ensure the safety of the rehabilitation patients.
Description
technical field [0001] The invention belongs to the control field of wheeled rehabilitation robots, and in particular relates to a trajectory tracking error constraint safety control method of a rehabilitation walking training robot. Background technique [0002] Walking is one of the most important basic activities in daily independent life of human beings. With the increase of the elderly population, the muscle strength of the legs of the elderly is gradually weakened. If the walking training of the elderly is not strengthened in time, the walking function will be gradually lost and they will not be able to achieve daily independent living. Due to the lack of professional nursing staff in our country and the decrease in the number of young people in families, how to help the elderly recover their walking function has become a serious social problem. Therefore, it is of great significance to develop rehabilitation walking training robots to help the elderly to carry out wal...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙平孙桐李树江杨德国郑青矾曾宏翔
Owner SHENYANG POLYTECHNIC UNIV