Fuzzy control method used for exoskeleton system

Abstract

The invention belongs to the technical field of automatic control, and relates to a fuzzy control method for an exoskeleton system. The main idea of ​​the present invention is to solve the problem that traditional exoskeleton prototypes adopt PID position servo control. Although engineering can basically meet the control requirements, once the external environment or system parameters change, the mathematical model of the system will change. Changes ensue, which makes the system poorly controlled. The present invention designs the control law algorithm on the basis of the mathematical model of the hydraulic servo system. After the control model changes, the fuzzy adaptive control can track the expected curve better than the PID, and has the advantages of real-time performance, stability and robustness. There are clear advantages in terms of sex.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and relates to a fuzzy control method for an exoskeleton system. Background technique [0002] In disaster relief or mountainous environments, people often need to carry a large amount of equipment and materials, which will affect the speed, walking distance and maneuverability. Therefore, countries are accelerating the development of ergonomic exoskeleton portable power systems to achieve reduction Physical energy consumption, improve weight-bearing capacity and mobility. The main control method of the current power-assisted exoskeleton system is to use the hydraulic control system combined with the PID control method for control, and the PID control method needs to give the control parameters first. At present, the commonly used PID parameter setting method is the trial and error method, which is based on The degree of influence of each parameter of the controller on the performance ...

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Problems solved by technology

The main control method of the current power-assisted exoskeleton system is to use the hydraulic control system combined with the PID control method for control, and the PID control method needs to give the control parameters first. At present, the commonly used PID parameter setting method is the trial and error method, which is based on The degree of influence of each parameter of the controller on the performance of the system, observe the operation of the system, modify the parameters until satisfied, and for a system like hydraulic pressure, because the system parameters are constantly changing during operation, such as in the zero position of the servo valve , the hydraulic Ni coefficient is small but the flow amplification Kq coefficient is very large, and the electro-hydraulic servo valve sometimes does not work at zero position, etc. When the system parameters change, the system model also changes accordingly, and the control parameters are constant To control objects that are prone to change, the PID control effect is difficult to guarantee

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