CN107703762B - Human-computer interaction force identification and control method of rehabilitation walking training robot - Google Patents

Human-computer interaction force identification and control method of rehabilitation walking training robot Download PDF

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CN107703762B
CN107703762B CN201711121857.9A CN201711121857A CN107703762B CN 107703762 B CN107703762 B CN 107703762B CN 201711121857 A CN201711121857 A CN 201711121857A CN 107703762 B CN107703762 B CN 107703762B
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CN107703762A (en
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孙平
张文娇
孟奇
张帅
刘佳斌
单芮
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Shenyang University of Technology
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    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract

The invention discloses an identification control method for compensating human-computer interaction force of a rehabilitation walking training robot. Decomposing generalized control input force in a rehabilitation walking training robot dynamics model into tracking control force and human-computer interaction force to obtain a system dynamics model with the human-computer interaction force; the human-computer interaction force is used as the expansion state of the system, a system observer combining a fixed constant gain and a time-varying gain is designed by utilizing the real-time position output of the robot, and the human-computer interaction force is estimated; and designing a Lyapunov function based on the state observation error, the trajectory tracking error and the speed tracking error, so that the observation error system and the tracking error system are asymptotically stable. According to the control method, the novel system extension state observer is designed, the human-computer interaction force is obtained, the compensation control is utilized, the influence of the human-computer interaction force on the tracking performance is eliminated, and the tracking precision of the rehabilitation walking training robot and the safety of the system are improved.

Description

Human-computer interaction force identification and control method of rehabilitation walking training robot
Technical Field
The invention belongs to the field of control of wheeled rehabilitation robots, and particularly relates to a human-computer interaction force identification and control method of a rehabilitation walking training robot.
Background
With the global aging, the population of the elderly people increases year by year, the walking function is gradually reduced due to the weakened muscle strength of legs of the elderly, and if the walking training of the elderly is not timely strengthened, the walking function is lost, so that the self-standing life cannot be realized. Therefore, the rehabilitation walking training robot is developed to accurately track the training track specified by a doctor, and has important significance in helping the old to safely walk and exercise.
In recent years, there have been many research results on a rehabilitation walking training robot trajectory tracking control method, but none of the results considers the interaction force between human and machine. The rehabilitation walking training robot directly contacts with a rehabilitee, the pressure of the rehabilitee on a body weight supporting mechanism and the active walking force of legs of the rehabilitee can cause the robot to deviate from a training track specified by a doctor seriously due to the interaction force between the robots, so that the robot can collide with surrounding objects, and the motion of the robot and the rehabilitee is not coordinated, thereby threatening the safety of the rehabilitee. Therefore, the tracking control method without considering the human-computer interaction force has certain limitations in practical application. The human-computer interaction force is a time variable and is difficult to directly obtain in practical application, so that the design of the tracking controller of the rehabilitation walking training robot is difficult. The invention researches an observation method of the human-computer interaction force and a control method for compensating the human-computer interaction force, and has important significance for improving the tracking precision and the safety of the rehabilitation walking training robot.
Disclosure of Invention
In order to solve the problems, the invention provides a human-computer interaction force observation method with combination of a constant gain and a time-varying gain and a tracking control method for compensating the human-computer interaction force, thereby improving the tracking accuracy and the safety of the rehabilitation walking training robot.
In order to achieve the purpose, the invention adopts the following technical scheme, and the invention comprises the following steps:
step 1) decomposing generalized input force into tracking control force and human-computer interaction force based on a rehabilitation walking training robot system dynamic model to obtain a robot system dynamic model with the human-computer interaction force; the system dynamics model is described below
Figure BDA0001467526340000011
Wherein
Figure BDA0001467526340000012
Figure BDA0001467526340000013
X (t) is the actual walking track of the rehabilitation walking training robot, u (t) represents the generalized control input force, M represents the rehabilitation walking trainingMass of the training robot, m represents mass of the rehabilitee, I0The moment of inertia is represented as a function of,
Figure BDA0001467526340000014
is a coefficient matrix; theta represents the included angle between the horizontal axis and the connecting line between the center of the robot and the center of the first wheel, namely theta-theta1As can be seen from the structure of the rehabilitation walking robot,
Figure BDA0001467526340000021
θ3=θ+π,
Figure BDA0001467526340000022
lirepresenting the distance, r, of the center of gravity of the system to the center of each wheel0Denotes the distance from the center to the center of gravity, #iDenotes the x' axis and the corresponding l of each wheeliAngle between, λiDenotes the distance of the center of gravity to each wheel, i ═ 1,2,3, 4; symbol
Figure BDA0001467526340000023
Decomposing u (t) into u0(t) and u1(t) and substituting into model (1) to obtain
Figure BDA0001467526340000024
Wherein u is0(t) representing a tracking control force to be designed for driving the rehabilitation walking training robot to track a training track specified by a doctor; u. of1(t) represents a human-computer interaction force to be observed; let X (t) be x1(t) represents a movement position of the robot,
Figure BDA0001467526340000025
which represents the speed of movement of the robot,
Figure BDA0001467526340000026
the expansion state of the system is represented, and then a dynamic model of the robot system with human-computer interaction force is obtained as follows
Figure BDA0001467526340000027
Wherein h is a bounded constant and represents the variation of the expansion state of the robot system;
step 2) a rehabilitation walking training robot system dynamics model based on the human-computer interaction force, a system observer combining a fixed gain and a time-varying gain is designed by utilizing the real-time position output of the robot, and the human-computer interaction force is estimated; real-time position output y (t) x of rehabilitation walking training robot1(t) is provided with
Figure BDA0001467526340000028
Denotes xj(t) (j is 1,2,3),
Figure BDA0001467526340000029
expressing the observation error, the observer was designed as follows:
Figure BDA00014675263400000210
wherein λ0,λ2For the observer to be designed the constant gain, lambda1(t) observer time-varying gain to be designed; according to the model (3) and the observer (4), the system for obtaining the observation error is
Figure BDA00014675263400000211
Step 3) designing a Lyapunov function based on the state observation error, the trajectory tracking error and the speed tracking error, so that the observation error system and the tracking error system are asymptotically stable; the actual walking track X (t) of the rehabilitation walking training robot, the training track X designated by the doctord(t) setting a tracking error e1(t) and velocity tracking error e2(t) are each independently
e1(t)=X(t)-Xd(t) (6)
Figure BDA0001467526340000031
Further, the tracking error system obtained from equations (6), (7) and model (3) is
Figure BDA0001467526340000032
The Lyapunov function is designed according to the observation error and the tracking error as follows:
Figure BDA0001467526340000033
step 4) obtaining a solving method of observer gain and man-machine interaction force when the observation error system and the tracking error system reach asymptotic stability, and designing a compensation tracking controller according to the obtained man-machine interaction force; the formula (9) is derived along the observation error system (5) and the tracking error system (8), and the gain of the observer is adjusted to
Figure BDA0001467526340000034
Figure BDA0001467526340000035
Figure BDA0001467526340000036
The observation error system (5) can be made asymptotically stable, whereinσ(σ ═ 1,2,3) represents a specified small positive number, and then
Figure BDA0001467526340000037
Further, state x is extended by the system3(t) obtaining a human-machine interaction force of
Figure BDA0001467526340000038
After the human-computer interaction force is obtained, a compensation tracking controller u is designed0(t) is
Figure BDA0001467526340000039
The tracking error system (8) can be enabled to be asymptotically stable; wherein
Figure BDA00014675263400000310
A pseudo-inverse matrix of B (θ) is represented.
As a preferred scheme, the STM32F411 series single-chip microcomputer based on ARM Cortex-M4 provides output PWM signals for a motor driving module, so that the rehabilitation walking training robot compensates the human-computer interaction force and accurately tracks the training track appointed by a doctor; an STM32F411 series single chip microcomputer is used as a main controller, and the input end of the main controller is connected with an MPU9250 sensor module and the output end of the main controller is connected with a motor driving module; the motor driving module is connected with the direct current motor; the power supply system supplies power to each unit module; the control method of the main controller is to read the feedback signal X (t) of the sensor module and the control command signal X given by the main controllerd(t) calculating to obtain an error signal, and obtaining a man-machine interaction force by using a feedback signal X (t); according to the error signal and the man-machine interaction force, the main controller calculates the control quantity of the motor according to a preset control algorithm, the control quantity is sent to the motor driving module, and the motor rotates to drive the wheels to maintain self balance and move according to a specified mode.
As another preferred scheme, the single chip microcomputer adopts an STM32F411CEU6 chip, a pin 5 of the STM32F411CEU6 chip is connected with one end of an 8MHz crystal oscillator, the other end of the 8MHz crystal oscillator is connected with a pin 6 of the STM32F411CEU6 chip, a pin 7 of the STM32F411CEU6 chip is grounded through a capacitor C1, and a pin 14 of the STM32F411CEU6 chip is connected with a pin 12 of an MPU9250 sensor module;
a pin 15 of the STM32F411CEU6 chip is respectively connected with one end of a resistor R16 and the grid electrode of an NMOS tube MOS4 through a resistor R12, the source electrode of the NMOS tube MOS4 is respectively connected with the other end of a resistor R16 and the ground wire, the drain electrode of the NMOS tube MOS4 is respectively connected with the anode of a diode D4 and the cathode of a power supply of a driving motor of a fourth wheel, and the anode of the power supply of the driving motor of the fourth wheel is respectively connected with the anode of a battery and the cathode of the diode D4;
the pin 20 of the STM32F411CEU6 chip is grounded through a resistor R4;
a pin 21 of the STM32F411CEU6 chip is respectively connected with one end of a resistor R15 and the grid electrode of an NMOS tube MOS3 through a resistor R11, the source electrode of the NMOS tube MOS3 is respectively connected with the other end of a resistor R15 and the ground wire, the drain electrode of the NMOS tube MOS3 is respectively connected with the anode of a diode D3 and the cathode of a power supply of a driving motor of a third wheel, and the anode of the power supply of the driving motor of the third wheel is respectively connected with the anode of a battery and the cathode of the diode D3;
the 22 pin of the STM32F411CEU6 chip is grounded through a capacitor C2;
a pin 42 of the STM32F411CEU6 chip is respectively connected with one end of a resistor R14 and a grid electrode of an NMOS tube MOS2 through a resistor R10, a source electrode of the NMOS tube MOS2 is respectively connected with the other end of the resistor R14 and a ground wire, a drain electrode of the NMOS tube MOS2 is respectively connected with an anode of a diode D2 and a power supply cathode of a driving motor of the second wheel, and a power supply anode of the driving motor of the second wheel is respectively connected with a battery anode and a cathode of the diode D2;
a pin 43 of the STM32F411CEU6 chip is respectively connected with one end of a resistor R13 and the grid electrode of an NMOS tube MOS1 through a resistor R9, the source electrode of the NMOS tube MOS1 is respectively connected with the other end of the resistor R13 and the ground wire, the drain electrode of the NMOS tube MOS1 is respectively connected with the anode of a diode D1 and the cathode of a power supply of a driving motor of a first wheel, and the anode of the power supply of the driving motor of the first wheel is respectively connected with the anode of a battery and the cathode of the diode D1;
the pin 44 of the STM32F411CEU6 chip is grounded through R1;
the 45 pin of the STM32F411CEU6 chip is connected to the 23 pin of the MPU9250 sensor module, and the 46 pin of the STM32F411CEU6 chip is connected to the 24 pin of the MPU9250 sensor module.
In addition, the power supply system comprises a TP4059 chip, a first XC6204 chip and a second XC6204 chip, wherein 3 pins of the TP4059 chip are respectively connected with the anode of a battery, one end of a resistor R8, one end of a capacitor C12 and 1 pin of the second XC6204 chip, the other end of the resistor R8 is respectively connected with the 1 pin and the 3 pin of the first XC6204 chip, and the other end of the capacitor C12 is grounded; a pin 5 of the second XC6204 chip is connected with a pin 1 of the MPU9250 sensor module through an inductor L1;
the 4 feet of the TP4059 chip are respectively connected with one end of a capacitor C8 and one end of a resistor R6, and the other end of the resistor R6 is respectively connected with the ground wire and the other end of the capacitor C8 through a resistor R7.
The invention has the beneficial effects.
The method combines a dynamics model, decomposes the generalized control input force, takes the human-computer interaction force as a system expansion state, and establishes a system dynamics equation with the human-computer interaction force; according to the real-time position output of the rehabilitation walking training robot, a human-computer interaction force observer combining a fixed gain and a time-varying gain is designed, and a compensation tracking controller is designed by using the obtained human-computer interaction force, so that the influence of the human-computer interaction force on the tracking precision of the rehabilitation walking training robot is eliminated. The human-computer interaction force observation method is novel, the controller directly compensates the human-computer interaction force, the realization is easy, and the control method can improve the tracking precision and the safety of the rehabilitation walking training robot.
The invention solves the tracking control problem of compensating the human-computer interaction force of the rehabilitation walking training robot, enables an observation error system and a tracking error system to be gradually stable by constructing a Lyapunov function, and solves the observer gain and the human-computer interaction force.
Drawings
The invention is further described with reference to the following figures and detailed description. The scope of the invention is not limited to the following expressions.
FIG. 1 is a block diagram of the operation of the controller of the present invention;
FIG. 2 is a system diagram of the present invention;
FIG. 3 is a minimum system diagram of an STM32F411 singlechip of the invention;
FIG. 4 is a circuit diagram of the MPU9250 peripheral of the present invention;
FIG. 5 is a circuit diagram of the periphery of the motor driving module according to the present invention;
FIG. 6 is a schematic circuit diagram of a power system according to the present invention.
Detailed Description
The invention is realized by the following technical scheme:
1) decomposing generalized control input force in a rehabilitation walking training robot dynamics model into tracking control force and human-computer interaction force to obtain a robot system dynamics model with the human-computer interaction force;
2) the human-computer interaction force is used as the expansion state of the system, a system observer combining a fixed constant gain and a time-varying gain is designed by utilizing the real-time position output of the robot, and the human-computer interaction force is estimated;
3) designing a Lyapunov function based on the state observation error, the trajectory tracking error and the speed tracking error to enable an observation error system and a tracking error system to realize asymptotic stability; meanwhile, a solving method of the observer gain and the human-computer interaction force is obtained, and a compensation tracking controller is designed according to the obtained human-computer interaction force, so that the rehabilitation walking training robot can accurately track the training track specified by a doctor.
As shown in the figure, the invention specifically comprises the following steps:
step 1) decomposing generalized input force into tracking control force and human-computer interaction force based on a rehabilitation walking training robot system dynamic model to obtain a robot system dynamic model with the human-computer interaction force; the system dynamics model is described below
Figure BDA0001467526340000051
Wherein
Figure BDA0001467526340000052
Figure BDA0001467526340000061
X (t) is the actual walking track of the rehabilitation walking training robot, u (t) represents the generalized control inputInput force, M represents the mass of the rehabilitation walking training robot, M represents the mass of the rehabilitee, I0The moment of inertia is represented as a function of,
Figure BDA0001467526340000062
is a coefficient matrix; theta represents the included angle between the horizontal axis and the connecting line between the center of the robot and the center of the first wheel, namely theta-theta1As can be seen from the structure of the rehabilitation walking robot,
Figure BDA0001467526340000063
θ3=θ+π,
Figure BDA0001467526340000064
lirepresenting the distance, r, of the center of gravity of the system to the center of each wheel0Denotes the distance from the center to the center of gravity, #iDenotes the x' axis and the corresponding l of each wheeliAngle between, λiDenotes the distance of the center of gravity to each wheel, i ═ 1,2,3, 4; symbol
Figure BDA0001467526340000065
Decomposing u (t) into u0(t) and u1(t) and substituting into model (1) to obtain
Figure BDA0001467526340000066
Wherein u is0(t) representing a tracking control force to be designed for driving the rehabilitation walking training robot to track a training track specified by a doctor; u. of1(t) represents a human-computer interaction force to be observed; let X (t) be x1(t) represents a movement position of the robot,
Figure BDA0001467526340000067
which represents the speed of movement of the robot,
Figure BDA0001467526340000068
the expansion state of the system is represented, and then a dynamic model of the robot system with human-computer interaction force is obtained as follows
Figure BDA0001467526340000069
Wherein h is a bounded constant and represents the variation of the expansion state of the robot system;
step 2) a rehabilitation walking training robot system dynamics model based on the human-computer interaction force, a system observer combining a fixed gain and a time-varying gain is designed by utilizing the real-time position output of the robot, and the human-computer interaction force is estimated; real-time position output y (t) x of rehabilitation walking training robot1(t) is provided with
Figure BDA00014675263400000610
Denotes xj(t) (j is 1,2,3),
Figure BDA00014675263400000611
expressing the observation error, the observer was designed as follows:
Figure BDA00014675263400000612
wherein λ0,λ2For the observer to be designed the constant gain, lambda1(t) observer time-varying gain to be designed; according to the model (3) and the observer (4), the system for obtaining the observation error is
Figure BDA0001467526340000071
Step 3) designing a Lyapunov function based on the state observation error, the trajectory tracking error and the speed tracking error, so that the observation error system and the tracking error system are asymptotically stable; the actual walking track X (t) of the rehabilitation walking training robot, the training track X designated by the doctord(t) setting a tracking error e1(t) and velocity tracking error e2(t) are each independently
e1(t)=X(t)-Xd(t) (6)
Figure BDA0001467526340000072
Further, the tracking error system obtained from equations (6), (7) and model (3) is
Figure BDA0001467526340000073
The Lyapunov function is designed according to the observation error and the tracking error as follows:
Figure BDA0001467526340000074
step 4) obtaining a solving method of observer gain and man-machine interaction force when the observation error system and the tracking error system reach asymptotic stability, and designing a compensation tracking controller according to the obtained man-machine interaction force; the formula (9) is derived along the observation error system (5) and the tracking error system (8), and the gain of the observer is adjusted to
Figure BDA0001467526340000075
Figure BDA0001467526340000076
Figure BDA0001467526340000077
The observation error system (5) can be made asymptotically stable, whereinσ(σ ═ 1,2,3) represents a specified small positive number, and then
Figure BDA0001467526340000078
Further, state x is extended by the system3(t) obtaining a human-machine interaction force of
Figure BDA0001467526340000079
After the human-computer interaction force is obtained, a compensation tracking controller u is designed0(t) is
Figure BDA00014675263400000710
The tracking error system (8) can be enabled to be asymptotically stable; wherein
Figure BDA00014675263400000711
A pseudo-inverse matrix of B (θ) is represented.
An STM32F411 series single chip microcomputer based on ARM Cortex-M4 provides output PWM signals for a motor driving module, so that the rehabilitation walking training robot compensates the human-computer interaction force and accurately tracks a training track appointed by a doctor; an STM32F411 series single chip microcomputer is used as a main controller, and the input end of the main controller is connected with an MPU9250 sensor module and the output end of the main controller is connected with a motor driving module; the motor driving module is connected with the direct current motor; the power supply system supplies power to each unit module; the control method of the main controller is to read the feedback signal X (t) of the sensor module and the control command signal X given by the main controllerd(t) calculating to obtain an error signal, and obtaining a man-machine interaction force by using a feedback signal X (t); according to the error signal and the man-machine interaction force, the main controller calculates the control quantity of the motor according to a preset control algorithm, the control quantity is sent to the motor driving module, and the motor rotates to drive the wheels to maintain self balance and move according to a specified mode.
The single chip microcomputer adopts an STM32F411CEU6 chip, a pin 5 of the STM32F411CEU6 chip is connected with one end of an 8MHz crystal oscillator, the other end of the 8MHz crystal oscillator is connected with a pin 6 of the STM32F411CEU6 chip, a pin 7 of the STM32F411CEU6 chip is grounded through a capacitor C1, and a pin 14 of the STM32F411CEU6 chip is connected with a pin 12 of the MPU9250 sensor module;
a pin 15 of the STM32F411CEU6 chip is respectively connected with one end of a resistor R16 and the grid electrode of an NMOS tube MOS4 through a resistor R12, the source electrode of the NMOS tube MOS4 is respectively connected with the other end of a resistor R16 and the ground wire, the drain electrode of the NMOS tube MOS4 is respectively connected with the anode of a diode D4 and the cathode of a power supply of a driving motor of a fourth wheel, and the anode of the power supply of the driving motor of the fourth wheel is respectively connected with the anode of a battery and the cathode of the diode D4;
the pin 20 of the STM32F411CEU6 chip is grounded through a resistor R4;
a pin 21 of the STM32F411CEU6 chip is respectively connected with one end of a resistor R15 and the grid electrode of an NMOS tube MOS3 through a resistor R11, the source electrode of the NMOS tube MOS3 is respectively connected with the other end of a resistor R15 and the ground wire, the drain electrode of the NMOS tube MOS3 is respectively connected with the anode of a diode D3 and the cathode of a power supply of a driving motor of a third wheel, and the anode of the power supply of the driving motor of the third wheel is respectively connected with the anode of a battery and the cathode of the diode D3;
the 22 pin of the STM32F411CEU6 chip is grounded through a capacitor C2;
a pin 42 of the STM32F411CEU6 chip is respectively connected with one end of a resistor R14 and a grid electrode of an NMOS tube MOS2 through a resistor R10, a source electrode of the NMOS tube MOS2 is respectively connected with the other end of the resistor R14 and a ground wire, a drain electrode of the NMOS tube MOS2 is respectively connected with an anode of a diode D2 and a power supply cathode of a driving motor of the second wheel, and a power supply anode of the driving motor of the second wheel is respectively connected with a battery anode and a cathode of the diode D2;
a pin 43 of the STM32F411CEU6 chip is respectively connected with one end of a resistor R13 and the grid electrode of an NMOS tube MOS1 through a resistor R9, the source electrode of the NMOS tube MOS1 is respectively connected with the other end of the resistor R13 and the ground wire, the drain electrode of the NMOS tube MOS1 is respectively connected with the anode of a diode D1 and the cathode of a power supply of a driving motor of a first wheel, and the anode of the power supply of the driving motor of the first wheel is respectively connected with the anode of a battery and the cathode of the diode D1;
the pin 44 of the STM32F411CEU6 chip is grounded through R1;
the 45 pin of the STM32F411CEU6 chip is connected to the 23 pin of the MPU9250 sensor module, and the 46 pin of the STM32F411CEU6 chip is connected to the 24 pin of the MPU9250 sensor module.
The power supply system comprises a TP4059 chip, a first XC6204 chip and a second XC6204 chip, wherein 3 pins of the TP4059 chip are respectively connected with a battery anode, one end of a resistor R8, one end of a capacitor C12 and 1 pin of the second XC6204 chip, the other end of the resistor R8 is respectively connected with the 1 pin and the 3 pin of the first XC6204 chip, and the other end of the capacitor C12 is grounded; a pin 5 of the second XC6204 chip is connected with a pin 1 of the MPU9250 sensor module through an inductor L1;
the 4 feet of the TP4059 chip are respectively connected with one end of a capacitor C8 and one end of a resistor R6, and the other end of the resistor R6 is respectively connected with the ground wire and the other end of the capacitor C8 through a resistor R7.
It should be understood that the detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can be modified or substituted equally to achieve the same technical effects; as long as the use requirements are met, the method is within the protection scope of the invention.

Claims (1)

1. The human-computer interaction force identification and control method of the rehabilitation walking training robot is characterized by comprising the following steps of:
step 1) decomposing generalized input force into tracking control force and human-computer interaction force based on a rehabilitation walking training robot system dynamic model to obtain a robot system dynamic model with the human-computer interaction force; the system dynamics model is described below
Figure FDA0002624503460000011
Wherein
Figure FDA0002624503460000012
Figure FDA0002624503460000013
X (t) is the actual walking track of the rehabilitation walking training robot, u (t) represents the generalized control input force, M represents the mass of the rehabilitation walking training robot, M represents the mass of the rehabilitee, I0Representing moment of inertia, M0,K(θ),
Figure FDA0002624503460000014
B (theta) is a coefficient matrix; theta represents the included angle between the horizontal axis and the connecting line between the center of the robot and the center of the first wheel, namely theta-theta1As can be seen from the structure of the rehabilitation walking robot,
Figure FDA0002624503460000015
θ3=θ+π,
Figure FDA0002624503460000016
lirepresenting the distance, r, of the center of gravity of the system to the center of each wheel0Denotes the distance from the center to the center of gravity, #iDenotes the x' axis and the corresponding l of each wheeliAngle between, λiDenotes the distance of the center of gravity to each wheel, i ═ 1,2,3, 4; symbol
Figure FDA0002624503460000017
Decomposing u (t) into u0(t) and u1(t) and substituting into model (1) to obtain
Figure FDA0002624503460000018
Wherein u is0(t) representing a tracking control force to be designed for driving the rehabilitation walking training robot to track a training track specified by a doctor; u. of1(t) represents a human-computer interaction force to be observed; let X (t) be x1(t) represents a movement position of the robot,
Figure FDA0002624503460000019
which represents the speed of movement of the robot,
Figure FDA0002624503460000021
the expansion state of the system is represented, and then a dynamic model of the robot system with human-computer interaction force is obtained as follows
Figure FDA0002624503460000022
Wherein h is a bounded constant and represents the variation of the expansion state of the robot system;
step 2) a rehabilitation walking training robot system dynamics model based on the human-computer interaction force, a system observer combining a fixed gain and a time-varying gain is designed by utilizing the real-time position output of the robot, and the human-computer interaction force is estimated; real-time position output y (t) x of rehabilitation walking training robot1(t) is provided with
Figure FDA0002624503460000023
Denotes xj(t) (j is 1,2,3),
Figure FDA0002624503460000024
expressing the observation error, the observer was designed as follows:
Figure FDA0002624503460000025
wherein λ0,λ2For the observer to be designed the constant gain, lambda1(t) observer time-varying gain to be designed; according to the model (3) and the observer (4), the system for obtaining the observation error is
Figure FDA0002624503460000026
Step 3) designing a Lyapunov function based on the state observation error, the trajectory tracking error and the speed tracking error, so that the observation error system and the tracking error system are asymptotically stable; the actual walking track X (t) of the rehabilitation walking training robot, the training track X designated by the doctord(t) setting a tracking error e1(t) and velocity tracking error e2(t) are each independently
e1(t)=X(t)-Xd(t) (6)
Figure FDA0002624503460000027
Further, the tracking error system obtained from equations (6), (7) and model (3) is
Figure FDA0002624503460000031
The Lyapunov function is designed according to the observation error and the tracking error as follows:
Figure FDA0002624503460000032
step 4) obtaining a solving method of observer gain and man-machine interaction force when the observation error system and the tracking error system reach asymptotic stability, and designing a compensation tracking controller according to the obtained man-machine interaction force; the formula (9) is derived along the observation error system (5) and the tracking error system (8), and the gain of the observer is adjusted to
Figure FDA0002624503460000033
Figure FDA0002624503460000034
Figure FDA0002624503460000035
The observation error system (5) can be made asymptotically stable, whereinσ(σ ═ 1,2,3) represents a specified small positive number, and then
Figure FDA0002624503460000036
Further, state x is extended by the system3(t) obtaining a human-machine interaction force of
Figure FDA0002624503460000037
After the human-computer interaction force is obtained, a compensation tracking controller u is designed0(t) is
Figure FDA0002624503460000038
The tracking error system (8) can be enabled to be asymptotically stable; wherein
Figure FDA0002624503460000039
A pseudo-inverse matrix representing B (θ);
an STM32F411 series single chip microcomputer based on ARM Cortex-M4 provides output PWM signals for a motor driving module, so that the rehabilitation walking training robot compensates the human-computer interaction force and accurately tracks a training track appointed by a doctor; an STM32F411 series single chip microcomputer is used as a main controller, and the input end of the main controller is connected with an MPU9250 sensor module and the output end of the main controller is connected with a motor driving module; the motor driving module is connected with the direct current motor; the power supply system supplies power to each unit module; the control method of the main controller is to read the feedback signal X (t) of the sensor module and the control command signal X given by the main controllerd(t) calculating to obtain an error signal, and obtaining a man-machine interaction force by using a feedback signal X (t); according to the error signal and the man-machine interaction force, the main controller calculates the control quantity of the motor according to a preset control algorithm, the control quantity is sent to the motor driving module, and the motor rotates to drive the wheels to maintain self balance and move according to a specified mode;
the single chip microcomputer adopts an STM32F411CEU6 chip, a pin 5 of the STM32F411CEU6 chip is connected with one end of an 8MHz crystal oscillator, the other end of the 8MHz crystal oscillator is connected with a pin 6 of the STM32F411CEU6 chip, a pin 7 of the STM32F411CEU6 chip is grounded through a capacitor C1, and a pin 14 of the STM32F411CEU6 chip is connected with a pin 12 of the MPU9250 sensor module;
a pin 15 of the STM32F411CEU6 chip is respectively connected with one end of a resistor R16 and the grid electrode of an NMOS tube MOS4 through a resistor R12, the source electrode of the NMOS tube MOS4 is respectively connected with the other end of a resistor R16 and the ground wire, the drain electrode of the NMOS tube MOS4 is respectively connected with the anode of a diode D4 and the cathode of a power supply of a driving motor of a fourth wheel, and the anode of the power supply of the driving motor of the fourth wheel is respectively connected with the anode of a battery and the cathode of the diode D4;
the pin 20 of the STM32F411CEU6 chip is grounded through a resistor R4;
a pin 21 of the STM32F411CEU6 chip is respectively connected with one end of a resistor R15 and the grid electrode of an NMOS tube MOS3 through a resistor R11, the source electrode of the NMOS tube MOS3 is respectively connected with the other end of a resistor R15 and the ground wire, the drain electrode of the NMOS tube MOS3 is respectively connected with the anode of a diode D3 and the cathode of a power supply of a driving motor of a third wheel, and the anode of the power supply of the driving motor of the third wheel is respectively connected with the anode of a battery and the cathode of the diode D3;
the 22 pin of the STM32F411CEU6 chip is grounded through a capacitor C2;
a pin 42 of the STM32F411CEU6 chip is respectively connected with one end of a resistor R14 and a grid electrode of an NMOS tube MOS2 through a resistor R10, a source electrode of the NMOS tube MOS2 is respectively connected with the other end of the resistor R14 and a ground wire, a drain electrode of the NMOS tube MOS2 is respectively connected with an anode of a diode D2 and a power supply cathode of a driving motor of the second wheel, and a power supply anode of the driving motor of the second wheel is respectively connected with a battery anode and a cathode of the diode D2;
a pin 43 of the STM32F411CEU6 chip is respectively connected with one end of a resistor R13 and the grid electrode of an NMOS tube MOS1 through a resistor R9, the source electrode of the NMOS tube MOS1 is respectively connected with the other end of the resistor R13 and the ground wire, the drain electrode of the NMOS tube MOS1 is respectively connected with the anode of a diode D1 and the cathode of a power supply of a driving motor of a first wheel, and the anode of the power supply of the driving motor of the first wheel is respectively connected with the anode of a battery and the cathode of the diode D1;
the pin 44 of the STM32F411CEU6 chip is grounded through R1;
the 45 pin of the STM32F411CEU6 chip is connected with the 23 pin of the MPU9250 sensor module, and the 46 pin of the STM32F411CEU6 chip is connected with the 24 pin of the MPU9250 sensor module;
the power supply system comprises a TP4059 chip, a first XC6204 chip and a second XC6204 chip, wherein 3 pins of the TP4059 chip are respectively connected with a battery anode, one end of a resistor R8, one end of a capacitor C12 and 1 pin of the second XC6204 chip, the other end of the resistor R8 is respectively connected with the 1 pin and the 3 pin of the first XC6204 chip, and the other end of the capacitor C12 is grounded; a pin 5 of the second XC6204 chip is connected with a pin 1 of the MPU9250 sensor module through an inductor L1;
the 4 feet of the TP4059 chip are respectively connected with one end of a capacitor C8 and one end of a resistor R6, and the other end of the resistor R6 is respectively connected with the ground wire and the other end of the capacitor C8 through a resistor R7.
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