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A model-free angle control method with variable gain of knee exoskeleton based on pso

A control method and angle control technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of data-driven methods, many constraints, inability to resist interference, inconsistent estimated step size, etc., to facilitate computer programming and improve control accuracy. , the theoretical effect

Active Publication Date: 2022-01-11
NANJING UNIV OF SCI & TECH
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  • Claims
  • Application Information

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Problems solved by technology

This method needs to adjust many parameters, and the estimated step size of each part is not consistent, so it is not suitable for computers, and the data-driven method has too many constraints and cannot resist interference, which has great limitations. , Model-free control method for easy adjustment

Method used

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  • A model-free angle control method with variable gain of knee exoskeleton based on pso
  • A model-free angle control method with variable gain of knee exoskeleton based on pso
  • A model-free angle control method with variable gain of knee exoskeleton based on pso

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Embodiment

[0095] Step 1. Establish an impedance model of the knee joint exoskeleton robot in simulink. Firstly, the drive mode of the knee exoskeleton robot is selected, and the motor drive mode is selected, using a brushless DC motor. Then choose the knee joint link form, install the motor on the outside of the knee joint, and use the human-machine synchronous link, that is, the human body movement and force are consistent with the exoskeleton. The thigh and calf exoskeleton of the knee joint is made of aluminum alloy, which can be stretched and weighs about 5kg.

[0096] 1.1. Establish the impedance model of the knee exoskeleton:

[0097]

[0098] Among them, J o is the moment of inertia of the knee joint exoskeleton; θ j is the motion angle of human knee joint; B o is the damping coefficient of the knee exoskeleton; T j is the torque of the knee exoskeleton, provided by the motor; G o (θ j ) is the gravity expression of the knee joint exoskeleton, specifically M o gl o s...

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Abstract

The present invention proposes a PSO-based variable gain model-free angle control method of the knee exoskeleton. First, the impedance model of the human knee joint and the impedance model of the knee exoskeleton are established, and then the two are combined to form the final knee joint. Exoskeleton human-computer interaction model; use extremely local modeling to estimate the nonlinearity and interference of the system, establish a controller that includes interference and control channel gain; design a discrete estimation form of local dynamic characteristics based on algebraic methods; use projection gradient algorithm To estimate the gain of the control channel, the criterion function is the minimum variance, and the solution method adopts the Lagrange multiplier method; through the particle search method, the optimal performance index is continuously searched, and finally a set of suitable PID parameters is searched to achieve the control effect. most. The control method of the invention can not only effectively control the angle of the exoskeleton of the knee joint, but also does not need to manually adjust the parameters, and at the same time strengthens the anti-interference ability, and is very suitable for the joint control of the exoskeleton robot.

Description

technical field [0001] The invention belongs to the field of robot joint angle control, in particular to a gain-variable model-free control method for a knee joint exoskeleton angle. Background technique [0002] Lower extremity exoskeleton robots have broad application prospects in both military load-bearing and civilian medical applications. As the load-bearing module of the lower extremity exoskeleton, the knee exoskeleton plays an indispensable role. However, due to the nonlinearity and uncertainty of the modeling of the knee exoskeleton, as well as the interference in practical applications, it is difficult to control the swing angle, which has always been a problem for many teams studying the lower extremity exoskeleton. Therefore, this time, a PSO-based variable model-free angle control method for knee exoskeleton gain is invented. [0003] In the literature (Zhang Y, Wang JZ, Li W, Wang J, Yang P.A model-free control method for estimating the joint angles of the kne...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 王浩平唐昊田杨
Owner NANJING UNIV OF SCI & TECH
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