1.重庆文理学院;2.重庆理工大学
TP24；TP273；TH48；TH13????
国家自然科学基金项目（面上项目，重点项目，重大项目）,重庆市英才计划项目
1.Chongqing University of Arts and Science;2.Chongqing University of Technology
针对传统气动肌肉膝关节的迟滞性和有界扰动现象，构建了外骨骼气动肌肉柔性膝关节的动力学方程，提出一种基于超扭曲控制算法的高阶滑模控制器(A Higher Order Sliding Mode Observer based Sliding Mode Control, STC-HOSMO)。该算法通过柔性膝关节与气动人工肌肉动力学参数的映射，从而实现对柔性膝关节的运动控制。为验证该算法的可行性，搭建了Matlab-Simulink仿真模型和柔性膝关节的实验平台，仿真计算与试验数据表明，所设计的STC-HOSMO控制器能够控制关节在大运动范围下有较高的运动精确度和鲁棒性，并可以有效地抑制传统气动人工肌肉机器人关节极易出现较大的抖振、迟滞和有界扰动现象，表现出较高的柔顺性，为柔性膝关节在外骨骼研发设计中的应用开发提供了理论基础与试验数据。
Aiming at the retardation and bounded perturbation phenomenon of traditional pneumatic muscle knee joint, the dynamic equation of flexible knee joint of exoskeleton pneumatic muscle is constructed, and a Higher Order Sliding Mode Observer based Sliding Mode Control (STC-HOSMO) based on super-twist control algorithm is proposed. The algorithm realizes the motion control of the flexible knee joint by mapping the dynamic parameters of the flexible knee joint and the pneumatic artificial muscle. In order to verify the feasibility of the algorithm, a Matlab-Simulink simulation model and an experimental platform for flexible knee joint were built, and the simulation calculation and test data showed that the designed STC-HOSMO controller can control the joint with high motion accuracy and robustness under a large range of motion, and can effectively inhibit the traditional pneumatic artificial muscle robot joints that are prone to large jitter, hysteresis and bounded disturbances, showing high compliance. This paper provides a theoretical basis and experimental data for the application and development of flexible knee joint in exoskeleton R&D and design.
