摘  要

遙操作康復(fù)機(jī)器人是指應(yīng)用計算機(jī)技術(shù)、自動控制技術(shù)、傳感器應(yīng)用技術(shù)和測試技術(shù)，以網(wǎng)絡(luò)遙操作機(jī)器人技術(shù)為基礎(chǔ)，不僅能為偏遠(yuǎn)地區(qū)的殘障患者提供遠(yuǎn)程康復(fù)訓(xùn)練與評估，還能促使患者更靈活、主動、積極地參與康復(fù)治療。

本文主要針對遙操作康復(fù)機(jī)器人系統(tǒng)的穩(wěn)定性、透明性、跟蹤效果、時延影響幾個問題進(jìn)行研究，所設(shè)計的魯棒控制器能夠較好地減少時延和外界干擾對系統(tǒng)性能的影響，使系統(tǒng)對參數(shù)魯棒漸進(jìn)穩(wěn)定，并且具有良好的透明性。具體的研究內(nèi)容如下：

首先，本文介紹了基于網(wǎng)絡(luò)的遙操作康復(fù)機(jī)器人系統(tǒng)的研究背景及意義，國內(nèi)外研究狀況及發(fā)展趨勢。

其次，闡述了常規(guī)的遙操作機(jī)器人系統(tǒng)的動力學(xué)模型和二端口網(wǎng)絡(luò)模型，進(jìn)而對所要研究的遙操作康復(fù)機(jī)器人系統(tǒng)進(jìn)行動力學(xué)建模，并給出其等效的二端口網(wǎng)絡(luò)模型。

然后，針對遙操作康復(fù)機(jī)器人系統(tǒng)通信時延引起系統(tǒng)不穩(wěn)定以及性能下降等問題，將系統(tǒng)描述成一個具有時延的狀態(tài)方程，通過構(gòu)造適當(dāng)?shù)睦钛牌罩Z夫函數(shù)，分析了時延下系統(tǒng)處于約束運(yùn)動狀態(tài)下的穩(wěn)定性，并得到系統(tǒng)的穩(wěn)定性條件。此外，通過建立系統(tǒng)的等效電路，研究了一種采用阻抗匹配方法分析系統(tǒng)在有時延和無時延情況下透明性的新方法。仿真實(shí)驗結(jié)果表明該方法的有效性，時延下的系統(tǒng)在保證穩(wěn)定的基礎(chǔ)上實(shí)現(xiàn)了良好的透明性。

接著，針對基于網(wǎng)絡(luò)的遙操作康復(fù)機(jī)器人系統(tǒng)主從端之間的時延和外界干擾對系統(tǒng)性能的影響，通過選擇適當(dāng)?shù)募訖?quán)函數(shù)將系統(tǒng)的干擾問題轉(zhuǎn)化為 魯棒控制問題，采用基于 混合靈敏度和 綜合的方法設(shè)計了一種主從手的魯棒控制器。受限運(yùn)動情況下的仿真實(shí)驗表明，所設(shè)計的控制器達(dá)到了設(shè)計目標(biāo)。

最后，完善了一套單自由度遙操作機(jī)器人實(shí)驗系統(tǒng)，根據(jù)本文設(shè)計的魯棒控制器，在LabVIEW環(huán)境下實(shí)現(xiàn)所設(shè)計的魯棒控制器，并在該系統(tǒng)上驗證了單自由度遙操作康復(fù)機(jī)器人系統(tǒng)控制器的穩(wěn)定性和控制效果，實(shí)現(xiàn)了主從手位置和力的跟蹤控制。

實(shí)驗結(jié)果表明：本文設(shè)計的 魯棒控制器具有良好的穩(wěn)定性和跟蹤性能，為遙操作康復(fù)機(jī)器人新型控制技術(shù)的研究奠定了一定基礎(chǔ)。


關(guān)鍵詞 遙操作康復(fù)機(jī)器人； 魯棒控制；時延；LabVIEW


 


 




 

Abstract

Tele-rehabilitation system based on teleoperation techniques and applied with computer technology, automatic control theory, sensor technology and testing techniques. The system can not only provide remote training and rehabilitation assessment for disabled people in remote areas, but also can encourage patient to participate in rehabilitation therapy more flexibly and actively. 

This article mainly aimed at the research on the stability, transparency, tracking performance and time delay of tele-rehabilitation system. The designed robust controller can reduce influence of time delay and external disturbances existing in the system. That can also ensure system has good robust stability and tracking performance even in the case of disturbances. Specific research contents are as follows:

Firstly, this paper introduced the research background and significance of Internet- based tele-rehabilitation system and the research situations of domestic and abroad.

Secondly, it introduced the conventional dynamics model and two-port network model of teleoperation system. Furthermore, the dynamics modeling and equivalent two-port network model of tele-rehabilitation system are given.

Thirdly, in order to eliminate the effect of communication time delay which usually causes instability and bad performance of the system. Consequently, the whole system is described as a state equation with time delay. Then we adopted appropriate Lyapunov function to analyze system’s stability and obtained the stability conditions at constrained motion with time delay. In addition, we established the equivalent circuit of the system and studied a novel method of impedance matching to analyze the system's transparency with time delay or not. The simulation results illustrated the validity of the proposed method and the system has good stability and transparency.

Then, for the problem of time delay and external disturbances existing in the Internet-based tele-rehabilitation system, we turned the disturbances problem into the robust   control problem by selecting the appropriate weighting function. The master and slave controller based on mixed-sensitivity   control theory and  -synthesis method is designed. The experimental results in the constrained motion showed that the designed controller achieved the project objective.

Finally, 1-DOF teleoperation experimental system is improved. The robust controller which was designed in this paper has realized in the LabVIEW environment. Furthermore, it demonstrated the stability and control effect of system and carried out the tracking control of force and position.

The result of research showed that the designed   controller has good robust stability and tracking performance, which laid the foundations for further study of new control technology.


Key Words tele-rehabilitation system;   robust control; time-delay; LabVIEW

 

目  錄

摘要 I

Abstract III

第1章 緒論 1

1.1 課題研究背景及意義 1-b..