重庆大学学报2024，Vol.47Issue(9)：51-60,10.DOI:10.11835/j.issn.1000-582X.2023.205
基于气动肌肉驱动的关节自抗扰控制
Auto disturbance rejection control of joints driven by pneumatic muscles
摘要
Abstract
To solve the problems of external interference and system parameter uncertainty in the trajectory tracking of a lower limb rehabilitation robot driven by pneumatic artificial muscles,an active disturbance rejection algorithm for joint control is proposed. Based on the mathematical model of the servo control system of the pneumatic artificial muscle joint,the method firstly estimates the system state and disturbance using a third-order state expansion observer. It then compensates for the disturbance in real time and adjusts the parameters based on the separation principle. Subsequently,with using a pneumatic artificial muscle test platform,the step signal tracking control,square wave tracking control,and sine tracking control of the control system are compared and verified under fixed angle conditions. Experimental results show that the designed active disturbance rejection control (ADRC) has a faster response time and lower control error than the proportional integral differential (PID) controller,meeting the application control requirements of the lower limb rehabilitation robot.关键词
机械电子工程/下肢康复机器人/气动人工肌肉/自抗扰控制/参数整定/轨迹跟踪Key words
mechanical and electronic engineering/lower limb rehabilitation robot/pneumatic artificial muscle/auto disturbance rejection control/parameter setting/track tracking分类
信息技术与安全科学引用本文复制引用
黄国勤,米俊丞,左思红..基于气动肌肉驱动的关节自抗扰控制[J].重庆大学学报,2024,47(9):51-60,10.基金项目
国家重点研发计划资助项目(2019YFB1703600) （2019YFB1703600）
国家自然科学基金资助项目(62033001).Supported by National Key R&D Program of China(2019YFB1703600),and National Natural Science Foundation of China(62033001). （62033001）
