基于线性–非线性自抗扰控制的肌力康复训练设备研究

Research on Muscle Strength Rehabilitation Training Equipment Based on Linear-Nonlinear Active Disturbance Rejection Control

摘要: 针对现有肌力康复训练设备普遍存在体型庞大、操作复杂、控制效果不尽如人意等问题，本文首先提出一种便携式肌力康复训练设备的机电一体化设计方案。其次基于该方案，针对线性自抗扰控制(Linear Active Disturbance Rejection Control, LADRC)在强非线性、强耦合或大范围工作点跳变场景下鲁棒性不足、系统偏离线性假设时性能下降和ESO增益过高导致噪声敏感性等问题，以及针对非线性自抗扰控制(Nonlinear Active Disturbance Rejection Control, NLADRC)在参数整定、稳定性分析与控制性能评估方面的挑战，提出将线性自抗扰控制与非线性自抗扰控制相结合的两种策略：线性–非线性切换自抗扰控制(Linear-Nonlinear Switched Active Disturbance Rejection Control, SADRC)和线性–非线性加权自抗扰控制(Linear-Nonlinear Weighted Active Disturbance Rejection Control, WADRC)。最后，在五种控制策略下(PID、LADRC、NLADRC、SADRC、WADRC)对该设备进行仿真与实验对比，验证所提方法的优越性。

Abstract: Aiming at the problems of large size, complex operation, and unsatisfactory control effect of existing muscle strength rehabilitation training equipment, this paper first proposes a mechatronic design scheme of portable muscle strength rehabilitation training equipment. Secondly, based on this scheme, addressing the issues of Linear Active Disturbance Rejection Control (LADRC), such as insufficient robustness in strong nonlinear, strong coupling or large-scale working point jump scenarios, performance degradation when the system deviates from the linear assumption, and noise sensitivity caused by excessive ESO gain, as well as the challenges in parameter tuning, stability analysis and control performance evaluation of Nonlinear Active Disturbance Rejection Control (NLADRC), two strategies combining linear active disturbance rejection control and nonlinear active disturbance rejection control are proposed: Linear-Nonlinear Switched Active Disturbance Rejection Control (SADRC) and Linear-Nonlinear Weighted Active Disturbance Rejection Control (WADRC). Finally, the simulation and experimental comparison of the device are carried out using five control strategies (PID, LADRC, NLADRC, SADRC, WADRC) to verify the superiority of the proposed method.