| 引用本文： |
-
韦斌杰,赵鹏,张鹏飞,武学基,宋壮群,陆海宇,宋孟天,高学山.基于导纳模型的体重支持系统恒力控制研究[J].广西科学院学报,2024,40(4):469-477. [点击复制]
- WEI Binjie,ZHAO Peng,ZHANG Pengfei,WU Xueji,SONG Zhuangqun,LU Haiyu,SONG Mengtian,GAO Xueshan.Research on Constant Force Control of Weight Support System Based on Admittance Model[J].Journal of Guangxi Academy of Sciences,2024,40(4):469-477. [点击复制]
|
|
| 本文已被：浏览 40次 下载 40次 |
码上扫一扫！ |
| 基于导纳模型的体重支持系统恒力控制研究 |
|
韦斌杰1, 赵鹏2, 张鹏飞2, 武学基1, 宋壮群1, 陆海宇1, 宋孟天1, 高学山1,2
|
|
|
| (1.北部湾大学机械与船舶海洋工程学院, 广西钦州 535000;2.北京理工大学机电学院, 北京 100081) |
|
| 摘要: |
| 为改善患者康复训练效果，确保下肢康复机器人提供持续且稳定的支持力，本研究通过分析下肢康复机器人的机械结构和恒力控制方式，设计出一种基于导纳模型的双闭环变参数导纳控制的控制算法。针对患者身体素质及康复阶段不同，利用拉力传感器对体重支持(BWS)系统所提供的康复支持力进行实时监测并实时反馈调节。通过与固定导纳参数控制、传统比例-积分-微分(PID)控制等算法对比得知，所设计的双闭环变参数导纳控制算法在各康复阶段都起到了良好作用，康复支持力波动控制在10 N左右。相较于无算法控制的情况，康复支持力平均误差减小约90%。同时，所设计的双闭环变参数导纳控制算法提高了康复训练的安全性，有效减少下肢康复机器人在患者跌倒等突发情况下对患者的伤害，进一步优化了患者康复训练的需求。因此，该控制算法适用于不同康复阶段，实现下肢康复机器人在患者康复阶段的全过程辅助参与，进一步扩大下肢康复机器人的适用范围。 |
| 关键词: 下肢康复机器人 体重支持系统 导纳模型 双闭环 恒力控制 |
| DOI：10.13657/j.cnki.gxkxyxb.20241226.011 |
| 投稿时间：2024-06-30修订日期：2024-07-23 |
| 基金项目:广西重点研发计划项目(桂科AB22035006)资助。 |
|
| Research on Constant Force Control of Weight Support System Based on Admittance Model |
|
WEI Binjie1, ZHAO Peng2, ZHANG Pengfei2, WU Xueji1, SONG Zhuangqun1, LU Haiyu1, SONG Mengtian1, GAO Xueshan1,2
|
| (1.College of Mechanical and Marine Engineering, Beibu Gulf University, Qinzhou, Guangxi, 535000, China;2.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China) |
| Abstract: |
| In order to improve the rehabilitation training effect of patients and ensure that the lower limb rehabilitation robot provides continuous and stable support force,this study designed a double closed-loop variable parameter admittance control algorithms based on admittance model by analyzing the mechanical structure and constant force control mode of the lower limb rehabilitation robot.According to the different physical fitness and rehabilitation stages of patients,the real-time monitoring and real-time feedback regulation of the rehabilitation support force provided by the Body Weight Support (BWS) system were carried out by using the tension sensor.By comparing with fixed admittance parameter control and traditional Proportional-Integral-Differential (PID) control algorithms,it was known that the designed double closed-loop variable parameter admittance control algorithm had played a good role in each rehabilitation stage,and the fluctuation of rehabilitation support force was controlled at about 10 N.Compared with the case without algorithm control,the average error of rehabilitation support was reduced by about 90%.At the same time,the designed double closed-loop variable parameter admittance control algorithm improved the safety of rehabilitation training,effectively reduced the injury of lower limb rehabilitation robot to patients in sudden situations such as falls,and further optimized the needs of patient's rehabilitation training.Therefore,the control algorithm is suitable for different rehabilitation stages,realizes the whole process auxiliary participation of the lower limb rehabilitation robot in the patient's rehabilitation stage,and further expands the application scope of the lower limb rehabilitation robot. |
| Key words: lower limb rehabilitation robot weight support system admittance model double closed loop constant force control |
