[1]季心宇,吴洪明,王大帅,等.腰部外骨骼线性自抗扰控制研究[J].起重运输机械,2021,(17):79-83.
 Linear Active Disturbance Rejection Control of Lumbar Exoskeleton[J].,2021,(17):79-83.
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腰部外骨骼线性自抗扰控制研究()
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《起重运输机械》[ISSN:1001-0785/CN:11-1888/TN]

卷:
期数:
2021年17期
页码:
79-83
栏目:
分析研究
出版日期:
2021-09-30

文章信息/Info

Title:
Linear Active Disturbance Rejection Control of Lumbar Exoskeleton
作者:
季心宇吴洪明王大帅徐克锋孙健铨
文献标志码:
A
摘要:
如今,物流搬运行业仍然严重依赖于手动搬运。长期的搬运工作会极大地增加腰背肌肉劳损,甚至导致腰椎疾病。随着外骨骼系统的迅速发展,为搬运工开发腰部外骨骼至关重要。提出了一种线性扩张观测器的自抗扰控制算法。在搬运物体重量未知的情况下,该算法可以使得腰部外骨骼准确平滑地跟踪腰部运动轨迹。穿戴者搬运物体时,线性扩张观测器近似估计系统的扰动,并由控制器生成外部辅助扭矩补偿系统的扰动。
Abstract:
Nowadays logistics hling industry still relies heavily on manual hling. Long-term lifting work will hugely increase the strain of lower back muscles even cause lumbar disease. With the rapid development of exoskeleton systems, it is important to develop lumbar exoskeleton for porters. This paper presents an active disturbance rejection control algorithm for linear extended observer. When the weight of the object to be lifted up is unknown, the algorithm can make the waist exoskeleton accurately smoothly track the lumbar movement trajectory. When the wearer is lifting an object, the linear extended state observer approximates the disturbance of the system, the controller generates an external auxiliary torque to compensate the disturbance of the system.
更新日期/Last Update: 2021-10-28
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