Self-adaptive robust control method and device for under-actuated hydraulic single-leg power-assisted exoskeleton

A technology of adaptive robustness and control method, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve problems such as weak system robustness

Active Publication Date: 2021-05-11
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the technical problem that the system robustness performance of the existing underactuated hydraulic exoskeleton control method is

Method used

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  • Self-adaptive robust control method and device for under-actuated hydraulic single-leg power-assisted exoskeleton
  • Self-adaptive robust control method and device for under-actuated hydraulic single-leg power-assisted exoskeleton
  • Self-adaptive robust control method and device for under-actuated hydraulic single-leg power-assisted exoskeleton

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Embodiment 1

[0165] see figure 1 , this embodiment provides an adaptive robust control method for an underactuated hydraulic single-leg power-assisted exoskeleton, and the control method is used to control an under-actuated hydraulic single-leg power-assisted exoskeleton. The underactuated hydraulic single-leg power-assisted exoskeleton includes the underactuated hydraulic single-leg power-assisted exoskeleton for control. The underactuated hydraulic single-leg power-assisted exoskeleton includes a foot 1, a first rod 2, a knee joint encoder 3, a knee joint hydraulic cylinder 4, a pressure sensor 5 in the lower cavity of the knee joint hydraulic cylinder, a second connecting rod 6, a knee joint Hydraulic cylinder upper cavity pressure sensor 7, hip joint encoder 8, base plate 9, hip joint hydraulic cylinder upper cavity pressure sensor 10, hip joint hydraulic cylinder lower cavity pressure sensor 11, hip joint hydraulic cylinder 12, knee joint electro-hydraulic servo valve 13 , hip joint ...

Embodiment 2

[0278] This embodiment provides an underactuated hydraulic single-leg power-assisted exoskeleton, which is similar to the under-actuated hydraulic single-leg power-assisted exoskeleton in Embodiment 1, the difference is that the real-time controller in this embodiment directly executes Embodiment 1 The self-adaptive robust force control method in the exoskeleton enables each part of the exoskeleton to achieve a good follow-up and assisting effect on human motion.

Embodiment 3

[0280] This embodiment provides an adaptive robust control device for an underactuated hydraulic single-leg power-assisted exoskeleton, which applies the adaptive robust control method for an under-actuated hydraulic single-leg power-assisted exoskeleton in Embodiment 1. Wherein, the control device includes an initialization module 1, an initialization module 2, an initialization module 3, a model building module, a reference displacement acquisition module, an actual displacement acquisition module, a servo valve control voltage acquisition module, a transformation module and a following module.

[0281] The initialization module one is used to initialize the sampling period of the real-time controller, and the sampling period is between 10 and 20 milliseconds. The initialization module 2 is used to rotate the foot 1 to a horizontal position, rotate the first rod 2, the second rod 6 and the backboard 15 to a vertical position, initialize the knee joint encoder 3 and the hip jo...

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Abstract

The invention discloses a self-adaptive robust control method and device for an under-actuated hydraulic single-leg power-assisted exoskeleton. The control method comprises the following steps of establishing a physical model; obtaining a reference displacement and an actual displacement; adopting the actual displacement and the reference displacement as input quantities, and adopting the output of a middle-layer position tracking controller as a virtual expected joint driving torque; and converting the expected joint torque into expected hydraulic cylinder output force, adopting the expected hydraulic cylinder output force and actual hydraulic cylinder output force as input quantities, converting flow into driving voltage of an electro-hydraulic servo valve, using the driving voltage to control the output force of a hydraulic cylinder, and driving all joints of the under-actuated single-leg power-assisted exoskeleton to rotate. According to the self-adaptive robust control method and device for the under-actuated hydraulic single-leg power-assisted exoskeleton provided by the invention, under the condition that the number of the hydraulic cylinders is smaller than the number of freedom degrees of motion of the exoskeleton, the influences of multi-joint strong coupling of the under-actuated hydraulic single-leg power-assisted exoskeleton, high-order nonlinearity of a hydraulic driver and model uncertainty are effectively overcome, and the good following and power-assisted effects of the hydraulic power-assisted exoskeleton on human motion are achieved.

Description

technical field [0001] The present invention relates to a control method for an exoskeleton in the field of wearable technology, in particular to an adaptive robust control method for an underactuated hydraulic single-leg power-assisted exoskeleton, and also relates to an automatic control method for an under-actuated hydraulic single-leg power-assisted exoskeleton. Adapt to robust control devices. Background technique [0002] The wearable lower limb assisted exoskeleton robot is an intelligent man-machine integrated device that imitates the structure of the lower limbs of the human body and enhances the wearer's walking durability, walking speed, and load-bearing capacity. aspect plays an important role. The combination of exoskeleton and human can adapt to an unstructured environment, has excellent flexibility, and can complete some complex tasks, which is unmatched by other completely mechanical devices. Hydraulic actuators are ideally suited for compact and heavy-duty...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0006B25J9/16B25J9/1679B25J9/1602B25J9/1694
Inventor 陈珊韩腾辉鹿牧野封谟伟偶世龙冯佳劲董方方
Owner HEFEI UNIV OF TECH
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