MATLAB/Simmechanics ortamında VSAnkleExo’nun konum kontrolü için bir simülasyon çalışması

Öz

İnsan biyomekanik çalışmalarına göre, ayak bileği eklemi kas-iskelet yapısı yürüme sırasında eklem sertliğini anlık olarak değiştirmektedir. İnsanın vücudunun bu biyomekaniğinden esinlenilerek, VS-AnkleExo isimli ayarlanabilir sertliğe sahip bir dış iskelet robot tasarlanmış ve bu çalışmada MATLAB/SimMechanics simülasyon ortamı kullanılarak robotun pozisyon takip simülasyon testleri gerçekleştirilmiştir. VSAnkleExo yürüme yardımı ve rehabilitasyon amaçları için kullanılması düşünülmektedir. Robotun bu amaçları yerine getirebilmesi için etkili bir pozisyon kontrolü gerekmektedir. Bu nedenle, gerçek robot üzerinde önerilen kontrolcüleri test etmeden önce, robotun MATLAB/SimMechanics modeli üzerinde pozisyon kontrol simülasyonları bu çalışmada sunulmuştur. VS-AnkleExo kompleks bir yapıya sahiptir. Bu yüzden robotun matematiksel modeline ihtiyaç duymayan kontrol yöntemleri burada test edilmiştir. Çalışmada ilk olarak MATLAB/SimMechanics kullanılarak robot modeli kurulmuştur. Daha sonra, önerilen bulanık kontrolcülerin etkinliğini ortaya koymak için yörünge takip ve bozuculu cevap deneyleri gerçekleştirilmiştir. Ayrıca deneyler geleneksel PID kontrolcü ile de gerçekleştirilmiş ve deney sonuçları karşılaştırılmıştır. Deney sonuçları, önerilen bulanık PD+PID kontrolcünün etkili bir şekilde pozisyon takip hatasını azaltabildiğini ve uygun kontrol performansı sunduğunu göstermiştir. Ayrıca önerilen kontrolcü bozuculara karşı sağlamdır.

Anahtar Kelimeler

• Bulanık PD+PID
• ZTS bulanık PD
• Adaptif bulanık kontrolcü
• Sertliği değiştirilebilir eyleyici
• Giyilebilir ayak bileği robot

A simulation study for position control of VSAnkleExo in MATLAB/SimMechanics environment

Öz

According to human biomechanics study, ankle joint musculoskeletal structure constantly changes joint stiffness during walking. Being inspired by human biomechanics, an ankle exoskeleton robot with an adjustable stiffness, named VSAnkleExo was designed and by using Simulation Environment MATLAB/SimMechanics, its position tracking simulation tests were carried out in this study. VSAnkleExo is intended to be used for the purposes of walking aid and rehabilitation. An effective position control of the robot is required for these purposes. Therefore, in this study, before testing the recommended controllers on the real robot, the position control simulations were applied on MATLAB/SimMechanics model of the robot. It is not easy to obtain the mathematical model of the robot because VSAnkleExo has a complex structure. For this reason, the control methods that do not need the mathematical model of the robot are tested here. In this study, firstly, a robot model was created by using MATLAB/SimMechanics. Then, trajectory tracking experiments and response experiments with disturbance were carry out on the model in order to reveal the efficiency of proposed fuzzy logic controllers. Besides, these experiments were performed with conventional PID and the all experiment results were compared. Experimental results show that proposed fuzzy PD+PID controller can influentially decrease reference tracking errors and acquire appropriate control performance. Furthermore, the controller is robust against external forces.

Anahtar Kelimeler

• Fuzzy PD+PID
• ZTS fuzzy PD
• Adaptive fuzzy controller
• Variable stiffness actuators
• Wearable ankle robot

Kaynakça

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