A model-free adaptive inversion control method for knee exoskeleton angle

A model-free self-adaptive and inverse control technology, applied in adaptive control, general control systems, control/regulation systems, etc., can solve problems such as difficulties in implementing embedded computers, many constraints that cannot resist interference, etc., and achieve convenient computer programming, overcoming perturbations and uncertainties, theoretically strong effects

Active Publication Date: 2022-07-22
NANJING UNIV OF SCI & TECH
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Problems solved by technology

This method needs to adjust a large number of parameters, and it is very difficult to implement it with an embedded computer, and the method has too many constraints and cannot resist interference, which has great limitations. good model-free control method

Method used

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  • A model-free adaptive inversion control method for knee exoskeleton angle
  • A model-free adaptive inversion control method for knee exoskeleton angle
  • A model-free adaptive inversion control method for knee exoskeleton angle

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Embodiment

[0080] Step 1. Establish the impedance model of the knee exoskeleton robot in simulink. The knee joint exoskeleton is driven by a motor and adopts a brushless DC motor. The motor is installed on the outside of the knee joint, and the human-machine synchronous link is adopted, that is, the movement and force of the human body are consistent with the exoskeleton. The thigh and calf exoskeleton of the knee joint is made of aluminum alloy, which can be stretched and weighed about 5kg.

[0081] Step 1.1. Establish the impedance model of the knee exoskeleton:

[0082]

[0083] Among them, J o is the moment of inertia of the knee exoskeleton; θ j is the motion angle of the 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 exoskeleton, specifically M o gl o sinθ j ; where M o is the weight of the knee exoskeleton; g is the accelerati...

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Abstract

The invention discloses a model-free self-adaptive inversion control method of the knee exoskeleton angle. First, an impedance model of the human knee joint and an impedance model of the knee joint exoskeleton are established, and then the two are combined to form the final knee joint exoskeleton. Skeletal human-computer interaction model; using the extremely local modeling method to establish a model-free inversion control framework; using the adaptive delay estimation method to estimate the nonlinearity and disturbance of the system, so as to compensate into the controller; using the least squares algorithm The control channel gain is estimated so that optimal control performance can be achieved. The control method of the invention can not only effectively control the angle of the knee joint exoskeleton, but also facilitate the adjustment of parameters, and at the same time, the anti-interference ability is enhanced, and is suitable for the joint angle control of the exoskeleton robot.

Description

technical field [0001] The invention belongs to the field of robot joint angle control, in particular to a model-free adaptive inversion control method of knee joint exoskeleton angle. Background technique [0002] The exoskeleton robot industry is now a popular industry for industrial development in the new era, and it has broad application prospects in both military load-bearing and civilian medical care. As the load-bearing module of the lower extremity exoskeleton, the knee exoskeleton plays a crucial role. However, due to the nonlinearity and uncertainty of its modeling, as well as the interference in practical applications, the knee exoskeleton is difficult to control its joint angle, which has always been a difficult problem for many teams studying lower limb exoskeletons. Therefore, a model-free adaptive inversion control method for knee exoskeleton angle is invented this time. [0003] In the literature (Zhang Y, Wang JZ, Li W, Wang J, Yang P.A model-free control ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 唐昊王浩平田杨
Owner NANJING UNIV OF SCI & TECH
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