CN116985119A - Rehabilitation robot control method based on interference compensation and finite time instruction filtering - Google Patents
Rehabilitation robot control method based on interference compensation and finite time instruction filtering Download PDFInfo
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Abstract
The invention relates to the field of rehabilitation robot control driven by a flexible actuator, and discloses a rehabilitation robot control method based on interference compensation and limited time instruction filtering. Compared with the traditional back-step control method, the invention solves the problems of differential explosion in the traditional back-step control method and reduced system control performance due to filtering errors in the dynamic surface control method; in addition, the control method of the invention uses a finite time disturbance observer to estimate system disturbance, and can be suitable for various different types of disturbance inhibition conditions by a disturbance compensation mode, thereby improving the anti-disturbance capability of the system.
Description
Technical Field
The invention relates to the field of rehabilitation robot control driven by a flexible actuator, in particular to a rehabilitation robot control method based on interference compensation and limited time instruction filtering.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In recent years, robots have been rapidly developed. In the field of medical rehabilitation, flexible actuator driven rehabilitation robots are receiving a great deal of attention. The rehabilitation robot is generally provided with a unique flexible mechanism, so that the safety of man-machine interaction can be greatly ensured. The rehabilitation robot driven by the flexible actuator also has the advantages of high load, impact resistance, low power consumption and the like. However, the system order of the flexible actuator driven rehabilitation robot dynamics model is twice that of the conventional rehabilitation robot. In addition, unknown multi-source disturbance (such as parameter perturbation, external environment interference and the like) existing in the working process of the rehabilitation robot driven by the flexible actuator reduces the accuracy of the control system, and even damages the stability of the system. In summary, this presents difficulties and challenges to the track following controller design of a flexible actuator driven rehabilitation robot. Considering that the work task of the rehabilitation robot driven by the flexible actuator is complex and changeable, the designed track tracking controller should have the anti-interference capability under various complex working conditions while ensuring high-precision tracking.
At present, a backstepping control method is widely applied to a rehabilitation robot driven by a flexible actuator. However, considering that an actual rehabilitation robot driven by a flexible actuator is used as a nonlinear system, the rehabilitation robot has strong coupling dynamics, and the traditional backstepping control method is difficult to meet the requirements of tracking precision and robustness in various complex environments; in addition, the conventional backstepping control method has a problem of "differential explosion", which increases the computational burden of the system to some extent.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a rehabilitation robot control method based on interference compensation and limited time instruction filtering, which has good anti-interference performance and convergence, solves the problems of differential explosion in the traditional backstepping control method and reduced system control performance of filtering errors in the dynamic surface control method, and can be suitable for various different types of interference suppression conditions.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides a rehabilitation robot control method based on interference compensation and limited time instruction filtering.
A rehabilitation robot control method based on interference compensation and limited time instruction filtering comprises the following steps:
obtaining a filtered signal of the virtual control signal and a first derivative signal of the filtered signal according to the virtual control signal;
obtaining a filtering error compensation signal according to the virtual control signal and the filtering signal;
obtaining a total time-varying disturbance estimation signal of the arm side according to the actual position signal of the arm side, the actual position of the motor side and the total time-varying disturbance signal of the arm side;
obtaining a total time-varying disturbance estimation signal of the motor side according to an actual position signal of the motor side and a total time-varying disturbance signal of the actual output control moment signal and the motor side in the composite anti-interference finite time backstepping controller;
and obtaining a virtual control signal and an actual output control moment signal according to a desired reference position signal of the arm side, an actual position signal of the arm side, a total time-varying disturbance estimation signal of the motor side, a filtering error compensation signal and a first derivative signal of the filtering signal by combining a limited time Lyapunov stability theory.
A second aspect of the present invention provides a rehabilitation robot control system based on disturbance compensation and finite time instruction filtering.
A rehabilitation robot control system based on disturbance compensation and finite time instruction filtering, comprising:
a finite time instruction filter configured to: obtaining a filtered signal of the virtual control signal and a first derivative signal of the filtered signal according to the virtual control signal;
a finite time filtering error compensator configured to: obtaining a filtering error compensation signal according to the virtual control signal and the filtering signal;
a first finite time disturbance observer configured to: obtaining a total time-varying disturbance estimation signal of the arm side according to the actual position signal of the arm side, the actual position of the motor side and the total time-varying disturbance signal of the arm side;
a second finite time disturbance observer configured to: obtaining a total time-varying disturbance estimation signal of the motor side according to an actual position signal of the motor side and a total time-varying disturbance signal of the actual output control moment signal and the motor side in the composite anti-interference finite time backstepping controller;
a composite tamper-resistant limited time backstepping controller configured to: and obtaining a virtual control signal and an actual output control moment signal according to a desired reference position signal of the arm side, an actual position signal of the arm side, a total time-varying disturbance estimation signal of the motor side, a filtering error compensation signal and a first derivative signal of the filtering signal by combining a limited time Lyapunov stability theory.
A third aspect of the present invention provides a computer readable storage medium having stored thereon a program which when executed by a processor implements the steps in the rehabilitation robot control method based on disturbance compensation and finite time instruction filtering according to the first aspect of the present invention.
A fourth aspect of the invention provides an electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, the processor implementing the steps in the rehabilitation robot control method based on disturbance compensation and finite time instruction filtering according to the first aspect of the invention when the program is executed.
Compared with the prior art, the invention has the beneficial effects that:
1. compared with the traditional back-step control method, the method disclosed by the invention belongs to a finite time instruction filtering control method, solves the problems of differential explosion in the traditional back-step control method and filtering error reduction system control performance in the dynamic surface control method, and can be suitable for various different types of interference suppression situations.
2. The method disclosed by the invention uses the finite-time disturbance observer to estimate the disturbance of the system, improves the anti-interference capability of the system in a disturbance compensation mode, and improves the tracking precision of the system.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic diagram of a rehabilitation robot driven by a flexible actuator according to embodiment 1 of the present invention;
FIG. 2 is a schematic block diagram of a control system according to embodiment 1 of the present invention;
FIG. 3 is a graph showing the results of simulation and comparison of the position output of the arm of the rehabilitation robot subject to external disturbance of the arm according to embodiment 1 of the present invention;
fig. 4 is a diagram showing a comparison of motor-side position output simulation results of a rehabilitation robot subject to external disturbance on the arm side according to embodiment 1 of the present invention;
FIG. 5 is a graph of the results of simulation and comparison of the output of tracking error of the position of the arm of the rehabilitation robot subject to external disturbance of the arm according to embodiment 1 of the present invention;
FIG. 6 is a graph showing the output result of the first finite time disturbance observer provided in embodiment 1 of the present invention to the rehabilitation robot suffering from the external disturbance of the arm side;
FIG. 7 is a graph showing the output of a second finite time disturbance observer for a rehabilitation robot subject to external disturbance on the arm side according to embodiment 1 of the present invention;
FIG. 8 is a graph showing the results of simulation and comparison of the arm side position outputs of the rehabilitation robot subject to external disturbance on the motor side according to embodiment 1 of the present invention;
FIG. 9 is a diagram showing the comparison of the motor-side position output simulation results of the rehabilitation robot subject to motor-side external disturbance according to embodiment 1 of the present invention;
FIG. 10 is a graph showing the comparison of the output simulation results of the tracking error of the arm side position of the rehabilitation robot subject to the external disturbance of the motor side according to the embodiment 1 of the present invention;
FIG. 11 is a graph showing the output result of the first finite time disturbance observer provided in embodiment 1 of the present invention to the rehabilitation robot suffering from the external disturbance of the motor side;
fig. 12 is a graph showing the output result of the second finite time disturbance observer provided in embodiment 1 of the present invention to the rehabilitation robot suffering from the external disturbance of the motor side.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1:
in order to solve the problems of differential explosion of the existing back-step control method of the rehabilitation robot driven by the flexible actuator, poor control performance of a system and disturbance rejection performance due to a filtering error of a dynamic surface control method, the embodiment discloses a rehabilitation robot control method based on interference compensation and limited time instruction filtering, and the control method can realize rapid tracking control; the problem of differential explosion in the traditional backstepping control is solved by designing a finite time instruction filter; the influence of filtering errors existing in the dynamic surface control method on the accuracy of the control system is reduced by designing a finite time filtering error compensator; the disturbance observer is introduced into the controller to carry out disturbance compensation so as to improve the anti-disturbance capacity of the rehabilitation robot system driven by the flexible actuator.
The control method of the embodiment mainly comprises the following processes: designing finite time disturbance observer, designing finite time instruction filter, designing finite time filtering error compensator, designing composite anti-interference finite time backstepping controller and finally generating actual control moment tau m 。
Specifically, the control method of the present embodiment, as shown in fig. 1 and 2, includes the following steps:
s1: the mathematical model for establishing the rehabilitation robot driven by the flexible actuator is as follows:
where q is the arm side actual position signal,for the first time derivative of the arm-side actual position signal q +.>Is the second time derivative of the arm-side actual position signal q, θ is the motor-side actual position signal, +.>Is the first time derivative of the motor-side actual position signal θ, +.>Is the second time derivative of the actual position signal theta at the motor side, tau m For the input torque of the system, M (q) is the generalized moment of inertia, < >>Is Coriolis force and centripetal force, G (q) is gravity torque, K is joint rigidity coefficient, J is motor inertia, B is damping coefficient, omega 1 and ω2 External disturbances on the arm side and on the motor side, respectively, to which the system is subjected.
In order to facilitate the control of the rehabilitation robot driven by the flexible actuator, the mathematical model is expressed in the form of a state space expression, namely
wherein ,x1 ＝q，x 3 ＝θ，/> b 0 ＝J -1 ，Γ 2 ＝J -1 (-Bx 3 -ΔK(x 3 -x 1 )+ω 2 )，Γ 1 and Γ2 Respectively an arm side total time-varying disturbance signal and a motor side total time-varying disturbance signal, M 0 (x 1) and K0 Respectively M (x) 1 ) And K, ΔM 0 (x 1) and ΔK0 Respectively M (x) 1 ) And an uncertainty term for K.
S2: state space expression of rehabilitation robot driven by flexible actuator, and introducing expansion state variableThe state space expression of the rehabilitation robot driven by the flexible actuator can be rewritten as
And
wherein the variables areRepresenting the total time-varying disturbance Γ at the arm side 1 And its time derivative up to the highest order m +.>Representing the total time-varying disturbance Γ at the motor side 2 And its time derivative up to the highest order m +.>
According to the state space expression of the rehabilitation robot driven by the rewritten flexible actuator, combining the measured arm side position signal x 1 Motor side position signal x 3 Actual control moment τ m The first finite time disturbance observer (FTDO I) and the second finite time disturbance observer (FTDO II) are designed to:
and
wherein ,is a state variable of the first finite time disturbance observer,/-> and />Representing the variable x 1 ,x 2 and ζ0 L 1＞0 and />For coefficients of the first finite time perturbation observer,is a state variable of the second finite time disturbance observer,/-> and />Representing the variable x 3 ,x 4 and δ0 L 2＞0 and v1 ,v 2 ,…,v η+2 And > 0 is the coefficient of the first finite time disturbance observer.
S3: according to a finite time instruction filtering backstepping control theory, designing a finite time instruction filter as follows:
wherein z=2, 3,4,is the state variable of the finite time instruction filter, ψ z1 ,ψ z2 As an intermediate term, alpha z-1 Is an input variable which is a virtual control signal in a complex antijam finite time backstepping control given in a later step, d z1 ,d z2 ,d z3 And > 0 is the coefficient of the finite time instruction filter, and sign (·) is the standard sign function. In addition, state variables->For inputting variable alpha z-1 Filtered signal, state variable->Time derivative of>Can be approximated as an input variable alpha z-1 Time derivative of>
S4: combining the desired arm side position signal q r Arm side position signal x 1 Arm side velocity signal x 2 Motor side position signal x 3 Motor side speed signal x 4 Output signal of finite time instruction filterCalculating a system tracking error:
s5: taking into account filtering errorsThe control performance of the system is sacrificed and the output signal of the filter is based on the finite time command +.>And a virtual control signal alpha to be given in a later step 1 ,α 2 ,α 3 The finite time filtering error compensator is designed as follows:
wherein ,ξ1 ,ξ 2 ,ξ 3 ,ξ 4 State variable, also called compensation signal, c, for a finite time filtered error compensator 1 ,c 2 ,c 3 ,c 4＞0 and l1 ,l 2 ,l 3 ,l 4 And > 0 is the coefficient of the finite time filter error compensator.
S6: according to the system tracking error z 1 ,z 2 ,z 3 ,z 4 And compensating signal xi 1 ,ξ 2 ,ξ 3 ,ξ 4 Calculating the compensated tracking error:
υ 1 ＝z 1 -ξ 1 ,υ 2 ＝z 2 -ξ 2 ,υ 3 ＝z 3 -ξ 3 ,υ 4 ＝z 4 -ξ 4 (10)
s7: according to the finite time Lyapunov stability and finite time instruction filtering backstepping control theory, combining the system tracking error z 1 ,z 2 ,z 3 ,z 4 And compensated tracking error v 1 ,υ 2 ,υ 3 ,υ 4 The design of the composite anti-interference limited time backstepping controller is as follows:
wherein ,α1 ,α 2 ,α 3 Is a virtual control signal in a composite anti-interference finite time backstepping controller, tau m For the actual output control moment signal in the composite anti-interference finite time backstepping controller,is obtained by a finite time instruction filter s 1 ,s 2 ,s 3 ,s 4 > 0 and gamma > 0 are the coefficients of the composite anti-interference finite time back-step controller, < >>For the desired arm-side reference position signal q r Time derivative of (2)，/> and />Respectively, arm side total time-varying disturbance Γ 1 And motor side total time-varying disturbance Γ 2 Can be obtained by a first finite time disturbance observer and a second finite time disturbance observer, respectively.
The performance of the control method disclosed by the invention is verified by simulation on a rehabilitation robot driven by a two-joint flexible actuator, and firstly, the tracking performance and the anti-interference capability of the control method disclosed by the invention under the scene are verified aiming at the condition that the rehabilitation robot is interfered by the outside of an arm side. It is assumed that the two-joint flexible actuator driven rehabilitation robot applies the following form of arm-side external disturbanceWithin a period of 20 seconds to 30 seconds, < >>During the remaining simulation period,/a->
Fig. 3 shows graphs of simulation results of the arm-side position output of a rehabilitation robot driven by a flexible actuator subject to external interference on the arm side under the conventional control method and the control method disclosed by the invention, wherein the conventional control method and the control method disclosed by the invention can realize satisfactory tracking results.
Fig. 4 shows a diagram of simulation results of motor side position output in this scenario, from which it can be seen that the actual position output of the motor is bounded under the conventional control method and the control method of the present invention. In addition, as shown in fig. 5, the tracking error in the scene is smaller, so that the control method has higher tracking precision and stronger anti-interference capability compared with the traditional active disturbance rejection control method (ADRC) and the finite time command filter control method (FTCFBC) without disturbance compensation.
Fig. 6 gives an estimate of the total time-varying disturbance on the arm side and the velocity signal on the arm side of the rehabilitation robot driven by the flexible actuator subject to external disturbances on the arm side by the first finite time disturbance observer. Fig. 7 gives an estimate of the total time-varying disturbance on the motor side and the speed signal on the motor side of a rehabilitation robot driven by a flexible actuator subject to external disturbances on the arm side by a second finite time disturbance observer. As can be seen from fig. 6 and 7, the finite time disturbance observer disclosed in the present invention can realize accurate estimation.
Finally, aiming at the condition that the rehabilitation robot is interfered by the motor side outside, the tracking performance and the anti-interference capability of the control method disclosed by the invention under the scene are verified, and the rehabilitation robot driven by the flexible actuator with two joints is supposed to apply the motor side outside interference in the following formWithin a period of 20 seconds to 30 seconds, < >>During the remaining simulation period,/a->
Fig. 8 shows a graph of simulation results of the output of the position of the arm side of the rehabilitation robot driven by the flexible actuator, which is subject to external disturbance of the motor side, under the conventional control method and the control method disclosed by the invention, and satisfactory tracking results can be realized by both the conventional control method and the control method disclosed by the invention.
Fig. 9 shows a diagram of simulation results of motor-side position output in this scenario, from which it can be seen that the actual position output of the motor is bounded under the conventional control method and the control method of the present invention. In addition, the tracking error in the scene is shown in fig. 10, and compared with the traditional ADRC control method and the FTCFBC without interference compensation, the control method of the invention can realize smaller tracking error, thus having higher tracking precision and stronger anti-interference capability.
Fig. 11 gives an estimate of the total time-varying disturbance on the arm side and the velocity signal on the arm side of the rehabilitation robot driven by the flexible actuator subject to external disturbances on the motor side by the first finite time disturbance observer.
Fig. 12 gives an estimate of the total time-varying disturbance on the motor side and the motor side velocity signal of the rehabilitation robot driven by the flexible actuator subject to external disturbances on the motor side by the second finite time disturbance observer. As can be seen from fig. 11 and 12, the finite time disturbance observer disclosed in the present invention can achieve accurate estimation.
Based on the analysis of the simulation results under different disturbance scenes, the control method provided by the invention can be suitable for various different types of interference suppression situations.
Example 2:
the embodiment 2 of the invention provides a rehabilitation robot control system based on interference compensation and finite time instruction filtering, which comprises:
a finite time instruction filter configured to: obtaining a filtered signal of the virtual control signal and a first derivative signal of the filtered signal according to the virtual control signal;
a finite time filtering error compensator configured to: obtaining a filtering error compensation signal according to the virtual control signal and the filtering signal;
a first finite time disturbance observer configured to: obtaining a total time-varying disturbance estimation signal of the arm side according to the actual position signal of the arm side, the actual position of the motor side and the total time-varying disturbance signal of the arm side;
a second finite time disturbance observer configured to: obtaining a total time-varying disturbance estimation signal of the motor side according to an actual position signal of the motor side and a total time-varying disturbance signal of the actual output control moment signal and the motor side in the composite anti-interference finite time backstepping controller;
a composite tamper-resistant limited time backstepping controller configured to: and obtaining a virtual control signal and an actual output control moment signal according to a desired reference position signal of the arm side, an actual position signal of the arm side, a total time-varying disturbance estimation signal of the motor side, a filtering error compensation signal and a first derivative signal of the filtering signal by combining a limited time Lyapunov stability theory.
The working method of each component of the system is the same as that of the rehabilitation robot control method based on interference compensation and limited time instruction filtering provided in embodiment 1, and will not be repeated here.
Example 3:
embodiment 3 of the present invention provides a computer-readable storage medium having stored thereon a program which, when executed by a processor, implements the steps in the rehabilitation robot control method based on interference compensation and finite time instruction filtering as described in embodiment 1 of the present invention.
Example 4:
embodiment 4 of the present invention provides an electronic device, including a memory, a processor, and a program stored on the memory and executable on the processor, where the processor implements the steps in the rehabilitation robot control method based on interference compensation and finite time instruction filtering according to embodiment 1 of the present invention when executing the program.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The rehabilitation robot control method based on interference compensation and limited time instruction filtering is characterized by comprising the following steps of:
obtaining a filtered signal of the virtual control signal and a first derivative signal of the filtered signal according to the virtual control signal;
obtaining a filtering error compensation signal according to the virtual control signal and the filtering signal;
obtaining a total time-varying disturbance estimation signal of the arm side according to the actual position signal of the arm side, the actual position of the motor side and the total time-varying disturbance signal of the arm side;
obtaining a total time-varying disturbance estimation signal of the motor side according to an actual position signal of the motor side and a total time-varying disturbance signal of the actual output control moment signal and the motor side in the composite anti-interference finite time backstepping controller;
and obtaining a virtual control signal and an actual output control moment signal according to a desired reference position signal of the arm side, an actual position signal of the arm side, a total time-varying disturbance estimation signal of the motor side, a filtering error compensation signal and a first derivative signal of the filtering signal by combining a limited time Lyapunov stability theory.
2. The rehabilitation robot control method based on disturbance compensation and finite time instruction filtering according to claim 1,
the process of obtaining the filtered signal of the virtual control signal and the first derivative signal of the filtered signal from the virtual control signal is performed by a finite time instruction filter, the finite time instruction filter performing, comprising:
wherein z=1, 2,3,is the state variable of the finite time instruction filter, ψ z1 ,ψ z2 As an intermediate term, alpha z-1 Input variable, d, representing finite time instruction filter z1 ,d z2 ,d z3 > 0 is the coefficient of the finite time instruction filter, sign (·) is the standard sign function, state variable +.>For inputting variable alpha z-1 Is included.
3. The rehabilitation robot control method based on disturbance compensation and finite time instruction filtering according to claim 1,
the process of obtaining the filtered error compensation signal from the virtual control signal and the filtered signal is performed by a finite time filtered error compensator, the finite time filtered error compensator being:
wherein ,ξ1 ,ξ 2 ,ξ 3 ,ξ 4 For state variables of finite-time filter error compensator, i.e. filter error compensation signal, c 1 ,c 2 ,c 3 ,c 4＞0 and l1 ,l 2 ,l 3 ,l 4 > 0 is the coefficient of the finite time filter error compensator,is the output signal of the finite time instruction filter, i.e. the filtered signal, alpha 1 ,α 2 ,α 3 For virtual control signals, ++>M 0 (x 1) and K0 Respectively M (x) 1 ) And a nominal value of K, M (x 1 ) In a broad senseMoment of inertia, K, is the joint stiffness coefficient.
4. The rehabilitation robot control method based on disturbance compensation and finite time instruction filtering according to claim 1,
the process of obtaining the total time-varying disturbance estimation signal of the arm side according to the actual position signal of the arm side, the actual position of the motor side and the total time-varying disturbance signal of the arm side is performed by a first finite time disturbance observer, wherein the first finite time disturbance observer is as follows:
FTDOI:
wherein ,is a state variable of the first finite time disturbance observer,/-> and />Representing the variable x 1 ,x 2 and ζ0 L 1＞0 and />For coefficients of the first finite time perturbation observer,M 0 (x 1) and K0 Respectively M (x) 1 ) And a nominal value of K, M (x 1 ) K is the joint rigidity coefficient, x 1 ＝q，/>q is the arm side actual position signal, +.>Is the first time derivative of the arm side actual position signal q, and m is the highest derivative order.
5. The rehabilitation robot control method based on disturbance compensation and finite time instruction filtering according to claim 1,
the process of deriving a total time-varying disturbance estimation signal on the motor side from the actual position signal on the motor side and the actual output control torque signal in the composite antijamming finite time backstepping controller and the total time-varying disturbance signal on the motor side is performed by a second finite time disturbance observer comprising:
FTDO II:
wherein ,x3 ＝θ，θ is the motor side actual position signal, +.>Is the first time derivative of the motor-side actual position signal θ, +.>Is a state variable of the second finite time disturbance observer,/-> and />Representing the variable x 3 ,x 4 and δ0 L 2＞0 and v1 ,v 2 ,…,v η+2 > 0 is the secondCoefficients of finite time disturbance observer, b 0 ＝J -1 J is motor inertia, τ m Actually outputs a control moment signal K 0 Is the nominal value of K, K is the joint stiffness coefficient, and m is the highest derivative order.
6. The rehabilitation robot control method based on disturbance compensation and finite time instruction filtering according to claim 1,
the process of obtaining a virtual control signal and an actual output control moment signal according to a desired reference position signal on the arm side, an actual position signal on the arm side, a total time-varying disturbance estimation signal on the motor side, a filtered error compensation signal and a first derivative signal of the filtered signal, and combining a limited time lyapunov stability theory, is executed by a composite anti-interference limited time back-step controller, which comprises:
wherein ,z1 ,z 2 ,z 3 ,z 4 For system tracking error, v 1 ,υ 2 ,υ 3 ,υ 4 For compensating the tracking error, alpha 1 ,α 2 ,α 3 Is a virtual control signal, τ m For the actual output control moment signal in the composite anti-interference finite time backstepping controller,for filtering the first derivative signal of the signal s 1 ,s 2 ,s 3 ,s 4 > 0 and gamma > 0 are coefficients, +.>For the desired arm-side reference position signal q r Time derivative of> and />Respectively the estimation of the arm side total time-varying disturbance and the motor side total time-varying disturbance,b 0 ＝J -1 ，M 0 (x 1) and K0 Respectively M (x) 1 ) And a nominal value of K, M (x 1 ) The generalized moment of inertia is represented by K, the joint stiffness coefficient and J, the motor inertia.
7. A rehabilitation robot control system based on disturbance compensation and finite time instruction filtering, comprising:
a finite time instruction filter configured to: obtaining a filtered signal of the virtual control signal and a first derivative signal of the filtered signal according to the virtual control signal;
a finite time filtering error compensator configured to: obtaining a filtering error compensation signal according to the virtual control signal and the filtering signal;
a first finite time disturbance observer configured to: obtaining a total time-varying disturbance estimation signal of the arm side according to the actual position signal of the arm side, the actual position of the motor side and the total time-varying disturbance signal of the arm side;
a second finite time disturbance observer configured to: obtaining a total time-varying disturbance estimation signal of the motor side according to an actual position signal of the motor side and a total time-varying disturbance signal of the actual output control moment signal and the motor side in the composite anti-interference finite time backstepping controller;
a composite tamper-resistant limited time backstepping controller configured to: and obtaining a virtual control signal and an actual output control moment signal according to a desired reference position signal of the arm side, an actual position signal of the arm side, a total time-varying disturbance estimation signal of the motor side, a filtering error compensation signal and a first derivative signal of the filtering signal by combining a limited time Lyapunov stability theory.
8. The rehabilitation robot control system based on disturbance compensation and finite time instruction filtering according to claim 7,
a composite tamper resistant limited time backstepping controller comprising:
wherein ,z1 ,z 2 ,z 3 ,z 4 For system tracking error, v 1 ,υ 2 ,υ 3 ,υ 4 For compensating the tracking error, alpha 1 ,α 2 ,α 3 Is a virtual control signal, τ m For the actual output control moment signal in the composite anti-interference finite time backstepping controller,for filtering the first derivative signal of the signal s 1 ,s 2 ,s 3 ,s 4 > 0 and gamma > 0 are coefficients, +.>For the desired arm-side reference position signal q r Time derivative of> and />Respectively the estimation of the arm side total time-varying disturbance and the motor side total time-varying disturbance,b 0 ＝J -1 ，M 0 (x 1) and K0 Respectively M (x) 1 ) And a nominal value of K, M (x 1 ) The generalized moment of inertia is represented by K, the joint stiffness coefficient and J, the motor inertia.
9. A computer readable storage medium, having stored thereon a program, characterized in that the program, when executed by a processor, implements the steps in the rehabilitation robot control method based on disturbance compensation and finite time instruction filtering according to any one of claims 1-6.
10. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor performs the steps in the rehabilitation robot control method based on disturbance compensation and limited time instruction filtering according to any one of claims 1-6 when executing the program.
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| CN117885103B (en) * | 2024-03-14 | 2024-05-17 | 山东大学 | Flexible mechanical arm control method and system based on reduced-order expanded state observer |
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