Micro hydraulic servo control system and control method for exoskeleton robot

Abstract

The invention discloses a micro hydraulic servo control system and control method for an exoskeleton robot. The hydraulic servo control system comprises a servo controller, a micro hydraulic driving unit, a motor driving module, a robot body and a feedback measurement unit. Hip joint hydraulic cylinders conduct servo control by adopting the hip joint angle and hydraulic pump rotating speed double-closed-loop control strategy. Knee hydraulic cylinders conduct servo control by adopting the knee joint angle and rotating reversing valve opening degree double-closed-loop control strategy. Decoupling of actions between the hip joint hydraulic cylinders and the knee joint hydraulic cylinders is realized through the feedforward control algorithm. On the basis of analyzing the stress condition of awearer in the walking process, the design on the exoskeleton hydraulic driving system is simplified and combined with the proposed servo control algorithm, so that the hydraulic driving system meetsthe performance requirements and light weight and miniaturization are achieved.

Description

technical field [0001] The invention belongs to the technical field of robot drive and servo control, and relates to a micro hydraulic servo control system and a control method, in particular to a micro hydraulic servo control system and a control method for an exoskeleton robot. Background technique [0002] The exoskeleton robot is an intelligent human-computer interaction system, which provides support and protection for the wearer, and can effectively enhance the body's weight-bearing capacity and endurance. Assembly operations) have broad application prospects. [0003] Currently, the drive methods of exoskeleton robots mainly include motor drive and hydraulic drive. Motor drives are mainly used in exoskeletons in the rehabilitation medical field, mainly because medical rehabilitation exoskeletons do not require high load driving capabilities, and motor drives can meet application requirements. Compared with motor drive, hydraulic drive has the advantages of large loa...

AI Technical Summary

Problems solved by technology

Although this hydraulic system solution can meet the application requirements of the exoskeleton system functionally, however, due to the existing hydraulic production process, the volume and weight of the hydraulic system will be too large, resulting in the entire exoskeleton system being very cumbersome. It is not obvious, but it is very inconvenient to use, and even brings extra burden to the wearer, which seriously limits the practical application of hydraulically driven exoskeleton robots

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