کنترل بهینه غیرخطی برای یک پروتز رباتیکی بالای زانوی فعال با استفاده از رویکرد معادله ریکاتی وابسته به حالت

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشکده مهندسی برق، پزشکی و مکاترونیک، دانشگاه آزاد اسلامی قزوین، قزوین، ایران

2 دانشکده مهندسی برق، پزشکی و مکاترونیک، دانشگاه آزاد اسلامی قزوین

3 دانشکده مهندسی برق، دانشگاه صنعتی امیرکبیر، تهران، ایران

چکیده

امروزه پیشرفت‌های علمی و تکنولوژیکی امکان جایگزینی پروتزهای رباتیکی پا را با اندام قطع‌شده ایجاد‌کرده‌است˓ که طراحی کنترل‌کننده‌ی مناسب برای آن‌ها همچنان مورد بحث محققان می‌باشد. از این‌رو با توجه به اهمیت این موضوع˓ در این مقاله ترکیبی از روش کنترل بهینه غیرخطی مبتنی بر رویکرد معادله ریکاتی وابسته به حالت با روش کنترل حالت انتگرالی برای یک پروتز رباتیکی از نوع فعال برای قطع‌عضوهای بالای زانو پیشنهاد‌شده‌است. هدف اصلی در این مقاله بهینه‌سازی مصرف انرژی سیستم ربات/ پروتز و ردیابی مطلوب مسیرهای موردنظر در جابه‌جایی عمودی لگن˓ زاویه ران و زاویه زانو می‌باشد. همچنین با توجه به خاصیت مقاوم‌بودن کنترل‌کننده‌ی ترکیبی پیشنهادی˓ آنالیز حساسیت نیز در مقابل30%  تغییر در مقدار پارامترهای سیستم بررسی و نتایج با رویکرد کنترل امپدانس مدل مرجع تطبیقی مقاوم مقایسه می‌گردد. عملکرد کنترل‌کننده در دو حالت حرکت نقطه به نقطه و ردیابی با لحاظ‌کردن محدوده‌های اشباع برروی سیگنال‌های کنترلی سنجیده شده‌است. در نهایت نتایج شبیه‌سازی‌ نشان‌دهنده‌ی کاهش تلاش کنترلی˓ عملکرد مطلوب در ردیابی وضعیت‌ها و مقاومت نسبتا خوب در حضور عدم‌قطعیت‌های پارامتری سیستم و اغتشاشات ثابت می‌باشد. نتایج عددی نیز بیان‌کننده‌ی کاهش قابل‌ملاحظه‌ی انرژی مصرفی و همچنین مقدار هزینه‌کل روش پیشنهادی در مقایسه با رویکرد کنترل امپدانس مدل مرجع تطبیقی مقاوم می‌باشد.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Nonlinear optimal control of an active transfemoral prosthesis using state dependent Riccati equation approach

نویسندگان [English]

  • Anna Bavarsad 1
  • Ahmad Fakharian 2
  • Mohammad Bagher Menhaj 3
1 Faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran
2 Faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran
3 Department of Electrical Engineering, AmirKabir University of Technology
چکیده [English]

Nowadays, scientific and technological advances have created the ability to replace prosthetic legs with amputated limbs, which the design of a suitable controller is still being discussed by researchers. Therefore, according to the importance of the subject, in this paper, a combination of a nonlinear optimal control method based on the state-dependent Riccati equation approach with the integral state control technique is proposed for an active prosthetic leg for transfemoral amputees. The main objective of this paper is to optimize the energy consumption of the robot/prosthesis system and desirable tracking of the vertical displacement in hip and thigh and knee angles. Also, due to the robustness properties of the suggested controller is investigated sensitivity analysis against ±30% parametric uncertainty and compared with robust adaptive impedance control. The performance of the controller is assessed for both point-to-point motion and tracking modes by considering the saturation bounds of control signals. Finally, the simulation results show a decrease in control effort, desirable performance in tracking, and relatively good robustness in the presence of parametric uncertainty and constant disturbance. Numerical results indicate a significant reduction in energy consumption and total cost in this method compared to the robust adaptive impedance control.
 

کلیدواژه‌ها [English]

  • Tracking
  • Nonlinear optimal control
  • Integral state control
  • Robot/prosthesis system
  • Saturation bound

مراجع

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نشریه مهندسی مکانیک امیرکبیر
دوره 53، شماره 4
تیر 1400
صفحه 2117-2136

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