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[1]孙平,张帅. 康复步行训练机器人位置和速度跟踪误差同时约束的安全预测控制[J].电机与控制学报,2019,23(06):119-128.[doi:10.15938/j.emc.2019.06.014]
 SUN Ping,ZHANG Shuai. Safety predictive control for rehabilitative training walker with simultaneous constraints on position and velocity tracking errors[J].,2019,23(06):119-128.[doi:10.15938/j.emc.2019.06.014]
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 康复步行训练机器人位置和速度跟踪误差同时约束的安全预测控制
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
23
期数:
2019年06
页码:
119-128
栏目:
出版日期:
2019-06-15

文章信息/Info

Title:
 Safety predictive control for rehabilitative training walker with simultaneous constraints on position and velocity tracking errors
作者:
 孙平 张帅
 ( 沈阳工业大学信息科学与工程学院,沈阳110870)
Author(s):
 SUN Ping ZHANG Shuai
 ( School of Information Science and Engineering,Shenyang University of Technology,Shenyang110870,China)
关键词:
康复步行训练机器人 跟踪误差约束 安全预测控制 二次规划
Keywords:
 rehabilitative training walker tracking errors constraints safety predictive controlquadratic program
分类号:
TP 273
DOI:
10.15938/j.emc.2019.06.014
文献标志码:
A
摘要:
 康复步行训练机器人通过跟踪医生指定的运动轨迹,帮助患者步行训练,针对运动过程中位置和速度跟踪误差过大,影响康复者的安全问题,提出一种预测控制方法,目的是使康复步行训练机器人从任意位置出发同时实现轨迹和速度跟踪,并将跟踪误差约束在指定范围内,提高系统的安全性。通过离散化康复步行训练机器人的动力学模型,建立了具有控制增量形式的预测模型。在预测时域内,设计轨迹跟踪误差性能优化指标,并构建运动位置和速度跟踪误差约束条件,通过设计辅助运动轨迹并求解控制增量形式的二次规划问题,获得了时域内满足误差约束条件的预测控制。通过仿真和实验研究,结果表明了所提控制方法同时约束位置和速度跟踪误差的有效性和优越性。
Abstract:
it can help rehabilitee train. Considering the safety of rehabilitees,a safety predictive controller is proposed to solve the problem of extensive motion position and velocity tracking errors during training. The ultimate aim is to realize robot’s trajectory tracking and velocity tracking simultaneously for arbitrary initial position,and restrict tracing errors within prescribed range in order to increase the safety of the system.The predictive model with incremental control was established by discretizing kinetics model of the
rehabilitative training walker. In predictive time-domain, the performance index of trajectory tracking errors was designed and the constraint conditions of tracking errors were structured. The predictive control of satisfying the constraint conditions of tracking errors was obtained by designing auxiliary motion trajectory and solving quadratic program with incremental control. The simulation and experiment results show the feasibility and superiority of the proposed control method with simultaneous constraints on position and velocity tracking errors.

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备注/Memo

备注/Memo:
收稿日期: 2017 - 04 - 23
基金项目: 国家重点计划项目( 2016YFD0700104) ; 辽宁省自然科学基金( 2015020066)
作者简介: 孙平( 1974—) ,女,博士,教授,研究方向为康复机器人控制;
张帅( 1991—) ,男,硕士研究生,研究方向为康复机器人控制。
通信作者: 孙平
更新日期/Last Update: 2019-10-13