气动人工肌肉驱动的仿人腿关节运动控制研究
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摘要
气动产品以其不可替代的独特性能正越来越广泛地应用到社会生活、工业生产等各个领域,而气动人工肌肉作为一种新型的气动驱动器,在性能和结构上具有类似于生物肌肉的良好特性,正引起广泛的关注,可以预见其在理疗、仿生等领域将具有极为良好的应用前景。本文以气动人工肌肉为应用对象,基于理论模型并通过实验研究建立了气动人工肌肉的静态数学模型,设计了采用气动肌肉驱动的仿人下肢多自由度关节的机械结构,建立了单自由度和两自由度气动人工肌肉关节的数学模型,对系统特性进行了分析,并分别应用滑模变结构鲁棒控制和自适应鲁棒控制等多种算法实现了气动人工肌肉的高精度轨迹跟踪控制。
论文分七章进行阐述,主要内容如下:
第一章首先叙述了本课题的相关研究背景。介绍了气动人工肌肉的工作原理和发展历程,综述了国内外气动人工肌肉的相关领域研究现状以及发展趋势,阐述了本研究课题的来源及研究意义,最后给出了本文所要进行的主要工作和研究内容。
第二章建立了研究课题采用的相关硬件系统。基于人体下肢的生理结构分析,以气动人工肌肉为驱动器设计了多自由度仿人下肢机构,针对移动机器人应用需要,在结构参数上进行了优化;确定了满足控制系统应用要求的相应元件;分别建立了两种完整的控制器设计平台,并进行了初步实验测试了整个系统的可行性。
第三章对建立的多自由度仿人腿关节系统进行数学建模。以德国FESTO公司的气动肌腱产品为具体研究对象,测试了某型号气动人工肌肉的相关物理性能,包括其外部橡胶层的弹性模量,等压、等张和等长等多种不同条件下的力学性能,分析了导致静态理论模型与实验结果差距较大的原因,并从控制器设计角度出发,对理论模型进行了参数修正,建立了与实验结果较为吻和的静态数学模型;测试了驱动气动人工肌肉的PWM高速开关阀的流量特性;结合热力学方程以及关节动力学模型,分别建立了单自由度和两自由度气动人工肌肉关节的数学模型;对建立的模型进行了静、动态实验验证,结果表明建立的数学模型与实验结果较为接近;仿真分析了气动人工肌肉关节的动态工作特性以及相关的系统性能影响因素。
第四章针对气动人工肌肉关节系统具有强非线性、难以建立精确数学模型的特点,在对其特性分析的基础之上,对气动人工肌肉关节的数学模型进行了简化,设计了基于参考模型的滑模变结构鲁棒控制器。仿真和实验结果表明,变结构控制器对于扰动和外部参数变化具有较好的鲁棒性和稳定性,稳态误差小于0.005 rad,单自由度低频跟踪误差小于0.04 rad,高频跟踪误差小于0.06 rad。两自由度低频跟踪误差小于0.025 rad,高频跟踪误差小于0.06 rad。
第五章基于滑模变结构鲁棒控制设计,为了进一步提高控制精度,采用了一种自适应鲁棒控制策略(ARC),综合了自适应控制和鲁棒控制策略,在保证闭环系统稳定的同时,通过对模型参数进行自适应调整,进一步减小了轨迹跟踪误差,提高了系统性能。实验结果表明,ARC控制器的稳态误差小于0.003 rad,单自由度关节的低频跟踪误差小于0.01 rad,高频跟踪误差小于0.05 rad。两自由度低频误差小于0.015 rad,高频跟踪误差小于0.03 rad。
第六章从实际应用角度出发,为了降低应用成本,采用了仅需要位置反馈信号的饱和自适应鲁棒控制器(SARC),仍然在鲁棒控制的基础之上,通过结合参数自适应律提高控制精度,由于不需要压力反馈,极大地提高了控制系统的实用性。实验结果表明,SARC控制器在控制单自由度气动人工肌肉关节时,低频连续轨迹跟踪误差小于0.01 rad,高频跟踪误差小于0.03 rad,控制两自由度关节跟踪低频连续轨迹误差小于0.025 rad,高频跟踪误差小于0.03 rad。
第七章对全文作了总结,阐述了本课题的研究成果和结论,并对后续研究工作做出了展望。
Pneumatic products are increasingly applied to a wide range scope of social life, industrial production due to its unique properties. As a new type of pneumatic actuators, pneumatic artificial muscle has the good performance similar to the nature muscle and is causing more and more attention. It is foreseeable that extremely good prospects in the therapy, bionics, and some other fields.
This work took the bionic application of pneumatic muscles as the research target. The mechanical structure of humanoid leg joints actuated by pneumatic artificial muscles was designed. Based on the experimental results and theoretical model, the mathematical models of pneumatic artificial muscles, high-speed solenoid on-off valves were established. The modeling and analysis of single degree of freedom (DOF) and two-DOF pneumatic muscles joint were operated respectively. Several robust control methods including sliding mode control (SMC) and adaptive robust control (ARC) algorithm were applied to achieve high precision tracking performance. The paper is composed of seven chapters; main contents of each chapter are described as followed.
The chapterⅠdescribe the issues related to the research background. The working principle and development of pneumatic muscles was introduced. Reviewed the research achievements and developing trends in the relevant fields at home and abroad. The origin and significance of the work is given and then the main work and research content are noted.
ChapterⅡestablished the hardware system for research. Based on human physiological structure of the lower limb, designed a multi-DOF humanoid leg joints structure actuated by pneumatic muscles. To satisfy the needs of mobile robot application, Structural parameters has been optimized. Determine the corresponding components to meet the requirements of the control system. Two types of controller design platforms were established. And a preliminary experiment was conducted testing the feasibility of the whole system.
ChapterⅢmodeled the multi-DOF humanoid leg joint system. Taking the Germany company Festo's fluidic muscles as specific subjects, the related physical properties of a certain type pneumatic muscles were tested including the elastic modulus of its external rubber layer, various mechanical properties under the conditions of isometric, isotonic and isobaric. The large gap between the static theoretical model and experimental results was analysis, and from the controller design perspective, modified the model parameters. Then a higher precision static model was established. The high-speed PWM switching valves' flow characteristics was tested. Set up a single DOF and two-DOF pneumatic muscle joint's mathematical model based on the thermodynamics equations, as well as joint combined kinetic model. The static and dynamic experimental results demonstrated that the mathematical model is close to the experimental results. The dynamic performance of pneumatic muscle joint and some related factors were analysis by simulation.
Considering the strongly nonlinear of pneumatic muscles joint and difficult to build a precise mathematical model, ChapterⅣdesigned a sliding variable structure robust controller sliding mode controller on the basis of analysis of the characteristics and some simplifications. Simulation and experimental results show that the variable structure controller has good robustness and stability meeting the uncertain parameters and external disturbance. Steady-state error is less than 0.005 rad, low-frequency tracking error of single DOF joint is less than 0.04 rad, high-frequency tracking error is less than 0.06 rad. The two-DOF joint's low-frequency tracking error is less than 0.025 rad, high-frequency tracking error is less than 0.06 rad.
In order to further improve control precision, ChapterⅤapplies a robust adaptive control (ARC) strategy based on robust control design which integrated the adaptive control and robust control strategy. It guaranteed the stability of the closed-loop system and at the same time further reduces the tracking error and increase system performance by adjusting the model parameters adaptively. The experimental results show that the steady-state error is less than 0.003rad, single DOF joint's low-frequency tracking error less than 0.01 rad, high-frequency tracking error is less than 0.05rad. Low-frequency error of two DOF joint is less than 0.015rad, high-frequency tracking error is less than 0.03 rad.
In order to reduce the cost of practical application, ChapterⅥadopt the saturation robust adaptive controller (SARC) using the position feedback only. It is still on the basis of robust control, but by combining parameters adaptive laws improve the closed-loop control accuracy. As the pressure feedback is not need, thus the utility of the control system is greatly enhanced. The experimental results show that for the single DOF joint, the low-frequency continuous tracking error is less than 0.01 rad, high-frequency tracking error is less than 0.03 rad, and for two-DOF joint low trajectory tracking error is less than 0.025 rad, high-frequency tracking error is less than 0.03 rad.
ChapterⅦmade the summation, some results and conclusions of the study were presented, and future research work were given.
论文分七章进行阐述,主要内容如下:
第一章首先叙述了本课题的相关研究背景。介绍了气动人工肌肉的工作原理和发展历程,综述了国内外气动人工肌肉的相关领域研究现状以及发展趋势,阐述了本研究课题的来源及研究意义,最后给出了本文所要进行的主要工作和研究内容。
第二章建立了研究课题采用的相关硬件系统。基于人体下肢的生理结构分析,以气动人工肌肉为驱动器设计了多自由度仿人下肢机构,针对移动机器人应用需要,在结构参数上进行了优化;确定了满足控制系统应用要求的相应元件;分别建立了两种完整的控制器设计平台,并进行了初步实验测试了整个系统的可行性。
第三章对建立的多自由度仿人腿关节系统进行数学建模。以德国FESTO公司的气动肌腱产品为具体研究对象,测试了某型号气动人工肌肉的相关物理性能,包括其外部橡胶层的弹性模量,等压、等张和等长等多种不同条件下的力学性能,分析了导致静态理论模型与实验结果差距较大的原因,并从控制器设计角度出发,对理论模型进行了参数修正,建立了与实验结果较为吻和的静态数学模型;测试了驱动气动人工肌肉的PWM高速开关阀的流量特性;结合热力学方程以及关节动力学模型,分别建立了单自由度和两自由度气动人工肌肉关节的数学模型;对建立的模型进行了静、动态实验验证,结果表明建立的数学模型与实验结果较为接近;仿真分析了气动人工肌肉关节的动态工作特性以及相关的系统性能影响因素。
第四章针对气动人工肌肉关节系统具有强非线性、难以建立精确数学模型的特点,在对其特性分析的基础之上,对气动人工肌肉关节的数学模型进行了简化,设计了基于参考模型的滑模变结构鲁棒控制器。仿真和实验结果表明,变结构控制器对于扰动和外部参数变化具有较好的鲁棒性和稳定性,稳态误差小于0.005 rad,单自由度低频跟踪误差小于0.04 rad,高频跟踪误差小于0.06 rad。两自由度低频跟踪误差小于0.025 rad,高频跟踪误差小于0.06 rad。
第五章基于滑模变结构鲁棒控制设计,为了进一步提高控制精度,采用了一种自适应鲁棒控制策略(ARC),综合了自适应控制和鲁棒控制策略,在保证闭环系统稳定的同时,通过对模型参数进行自适应调整,进一步减小了轨迹跟踪误差,提高了系统性能。实验结果表明,ARC控制器的稳态误差小于0.003 rad,单自由度关节的低频跟踪误差小于0.01 rad,高频跟踪误差小于0.05 rad。两自由度低频误差小于0.015 rad,高频跟踪误差小于0.03 rad。
第六章从实际应用角度出发,为了降低应用成本,采用了仅需要位置反馈信号的饱和自适应鲁棒控制器(SARC),仍然在鲁棒控制的基础之上,通过结合参数自适应律提高控制精度,由于不需要压力反馈,极大地提高了控制系统的实用性。实验结果表明,SARC控制器在控制单自由度气动人工肌肉关节时,低频连续轨迹跟踪误差小于0.01 rad,高频跟踪误差小于0.03 rad,控制两自由度关节跟踪低频连续轨迹误差小于0.025 rad,高频跟踪误差小于0.03 rad。
第七章对全文作了总结,阐述了本课题的研究成果和结论,并对后续研究工作做出了展望。
Pneumatic products are increasingly applied to a wide range scope of social life, industrial production due to its unique properties. As a new type of pneumatic actuators, pneumatic artificial muscle has the good performance similar to the nature muscle and is causing more and more attention. It is foreseeable that extremely good prospects in the therapy, bionics, and some other fields.
This work took the bionic application of pneumatic muscles as the research target. The mechanical structure of humanoid leg joints actuated by pneumatic artificial muscles was designed. Based on the experimental results and theoretical model, the mathematical models of pneumatic artificial muscles, high-speed solenoid on-off valves were established. The modeling and analysis of single degree of freedom (DOF) and two-DOF pneumatic muscles joint were operated respectively. Several robust control methods including sliding mode control (SMC) and adaptive robust control (ARC) algorithm were applied to achieve high precision tracking performance. The paper is composed of seven chapters; main contents of each chapter are described as followed.
The chapterⅠdescribe the issues related to the research background. The working principle and development of pneumatic muscles was introduced. Reviewed the research achievements and developing trends in the relevant fields at home and abroad. The origin and significance of the work is given and then the main work and research content are noted.
ChapterⅡestablished the hardware system for research. Based on human physiological structure of the lower limb, designed a multi-DOF humanoid leg joints structure actuated by pneumatic muscles. To satisfy the needs of mobile robot application, Structural parameters has been optimized. Determine the corresponding components to meet the requirements of the control system. Two types of controller design platforms were established. And a preliminary experiment was conducted testing the feasibility of the whole system.
ChapterⅢmodeled the multi-DOF humanoid leg joint system. Taking the Germany company Festo's fluidic muscles as specific subjects, the related physical properties of a certain type pneumatic muscles were tested including the elastic modulus of its external rubber layer, various mechanical properties under the conditions of isometric, isotonic and isobaric. The large gap between the static theoretical model and experimental results was analysis, and from the controller design perspective, modified the model parameters. Then a higher precision static model was established. The high-speed PWM switching valves' flow characteristics was tested. Set up a single DOF and two-DOF pneumatic muscle joint's mathematical model based on the thermodynamics equations, as well as joint combined kinetic model. The static and dynamic experimental results demonstrated that the mathematical model is close to the experimental results. The dynamic performance of pneumatic muscle joint and some related factors were analysis by simulation.
Considering the strongly nonlinear of pneumatic muscles joint and difficult to build a precise mathematical model, ChapterⅣdesigned a sliding variable structure robust controller sliding mode controller on the basis of analysis of the characteristics and some simplifications. Simulation and experimental results show that the variable structure controller has good robustness and stability meeting the uncertain parameters and external disturbance. Steady-state error is less than 0.005 rad, low-frequency tracking error of single DOF joint is less than 0.04 rad, high-frequency tracking error is less than 0.06 rad. The two-DOF joint's low-frequency tracking error is less than 0.025 rad, high-frequency tracking error is less than 0.06 rad.
In order to further improve control precision, ChapterⅤapplies a robust adaptive control (ARC) strategy based on robust control design which integrated the adaptive control and robust control strategy. It guaranteed the stability of the closed-loop system and at the same time further reduces the tracking error and increase system performance by adjusting the model parameters adaptively. The experimental results show that the steady-state error is less than 0.003rad, single DOF joint's low-frequency tracking error less than 0.01 rad, high-frequency tracking error is less than 0.05rad. Low-frequency error of two DOF joint is less than 0.015rad, high-frequency tracking error is less than 0.03 rad.
In order to reduce the cost of practical application, ChapterⅥadopt the saturation robust adaptive controller (SARC) using the position feedback only. It is still on the basis of robust control, but by combining parameters adaptive laws improve the closed-loop control accuracy. As the pressure feedback is not need, thus the utility of the control system is greatly enhanced. The experimental results show that for the single DOF joint, the low-frequency continuous tracking error is less than 0.01 rad, high-frequency tracking error is less than 0.03 rad, and for two-DOF joint low trajectory tracking error is less than 0.025 rad, high-frequency tracking error is less than 0.03 rad.
ChapterⅦmade the summation, some results and conclusions of the study were presented, and future research work were given.
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