Robust control method and device for under-actuated double-leg supporting hydraulic power-assisted exoskeleton

Abstract

The invention relates to a robust control method and device for an under-actuated double-leg supporting hydraulic power-assisted exoskeleton. The control method comprises the following steps: initializing a sampling period of the real-time controller; the motion states of the left leg foot and the right leg foot of the exoskeleton are judged; establishing a physical model of the exoskeleton and converting the physical model into a state equation; the back acting force is obtained, and reference displacement is obtained in an upper-layer controller; an expected driving torque is obtained in a middle-layer controller according to the reference displacement; the expected flow of the electro-hydraulic servo valve is obtained in a lower-layer controller according to the expected driving torque; generating a current signal according to the expected flow; according to the current signals, all joints of the exoskeleton are driven to rotate, and tracking motion of the exoskeleton is achieved. The human-computer interaction exoskeleton following motion model is established by integrating multiple factors, the closed-chain dynamics problem of the exoskeleton is effectively solved, the influence of various interferences and uncertainties on the exoskeleton following motion is eliminated to a great extent, and the robustness of exoskeleton control is enhanced.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a robust control method of an underactuated double-leg-supported hydraulic-assisted exoskeleton, and a robust control device of an under-actuated double-legged hydraulically-assisted exoskeleton. Background technique [0002] The wearable lower-limb power-assisted exoskeleton robot is an intelligent human-machine integration device that imitates the structure of the lower limbs of the human body and enhances the wearer's walking durability, walking speed, weight-bearing capacity, etc. play an important role. The combination of exoskeleton and human can adapt to unstructured environment, has excellent flexibility, and can complete some complex work, which is unmatched by other completely mechanical devices. Hydraulic actuators are very suitable for compact and heavy-duty systems such as lower-extremity assist exoskeletons due to their large power-to-weight ratio and sufficient force ...

AI Technical Summary

Problems solved by technology

[0005] Based on this, it is necessary to provide a robust control method and device for an underactuated double-leg support hydraulically assisted exoskeleton for the problem that the robustness of the human-computer interaction of the exoskeleton is not strong.

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