Control method used for assistance exoskeleton system

Abstract

The invention belongs to the technical field of automatic control, and relates to a control method used for an assistance exoskeleton system. According to the dependency degree of a human body on the assistance exoskeleton system, control over the assistance exoskeleton system is divided into coarse control and fine control; and according to the specific method, firstly, a sensory perceptual system analyzes the motion state of the human body currently, according to the different motion states such as low-speed walking, standing, squatting and high-speed walking, through the coarse control method, motor control is used for controlling the pressure of an oil source, and therefore the hydraulic control amount required by the different motion states is achieved; meanwhile, on the basis of the coarse control, in order to more precisely control the motion state of the exoskeleton, the fine control is adopted, the postures of podites of the tail end of the exoskeleton are adjusted through the hydraulic cylinder elongation amount, the expected postures are achieved, and finally the exoskeleton can precisely achieve the different motion states; a power control device of the assistance exoskeleton system is composed of a hydraulic pump controlled by a servo motor and a hydraulic cylinder controlled by a servo valve; and the coarse control correspondingly adjusts the pressure of the oil source, and the fine control correspondingly adjusts displacement of the hydraulic cylinder.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and relates to a control method for an assisting 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 performa...

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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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