A force feedback control based pneumatic balancing method and system

Abstract

The application belongs to the technical field of pneumatic control, and particularly relates to a pneumatic balance method and system based on force control, which comprises the following steps: constructing a force signal acquisition link to acquire force sampling values of a force handle in real time; applying a Teager energy operator to calculate the instantaneous energy of the force sampling values to measure the transient burst strength of an operation intention; constructing a macro trend consistency factor of the force signal based on a sliding window to represent the persistence and stability of the current motion intention; fusing the instantaneous energy and the macro trend consistency factor to construct a transient effectiveness confidence, and calculating an anti-hysteresis compensation pressure according to the transient effectiveness confidence and superimposing the anti-hysteresis compensation pressure on a basic balance pressure output. The application can not only improve the transient response speed by using the Teager energy operator to overcome the pneumatic hysteresis, but also effectively eliminate high-frequency tremor interference, thereby improving the operation smoothness and stability of the pneumatic balance system.

Description

Technical Field

[0001] This invention relates to the field of pneumatic control. More specifically, this invention relates to a pneumatic balancing method and system based on force-sensory control. Background Technology

[0002] Pneumatic balancing systems are widely used in the auxiliary handling of heavy workpieces. Their core principle is to use air pressure within cylinders to balance the load's weight, and to adjust cylinder pressure by detecting the operator's applied force on the handle, thus providing responsive assistance. However, unlike rigid servo drive systems, the compressed air used in pneumatic systems is significantly compressible, and there is a physical delay in airflow transmission. This results in pneumatic hysteresis when the system responds to rapid start-up, shutdown, or reversal operations. This hysteresis manifests as follows: when the operator applies force quickly, the cylinder pressure builds up slowly, resulting in a heavy feel; when force is released, the pressure unloading is slow, leading to load overshoot.

[0003] Existing technologies typically address hysteresis by increasing proportional gain or introducing differential control, but simple linear gain adjustment can easily induce system oscillations. The Teager energy operator, as a nonlinear operator, can sensitively capture changes in the product of signal amplitude and frequency, making it suitable for detecting transient changes in operational intent. However, in actual industrial settings, operators often experience physiological tremors of 8Hz to 12Hz in their hands during high-intensity work, and mechanical structures also generate minute vibrations during movement. Because the Teager energy operator is extremely sensitive to frequency, it may misinterpret these high-frequency but small-amplitude tremors as high-energy, rapid operational signals, thus calculating incorrect strong compensation values. This leads to severe pressure pulsations in the pneumatic system during steady-state hovering or precise fine-tuning.

[0004] Therefore, there is an urgent need for a control method that can both improve transient response speed to overcome aerodynamic hysteresis and effectively eliminate high-frequency vibration interference. Summary of the Invention

[0005] To address the technical problems in the prior art, such as poor operating feel due to pneumatic hysteresis and system pressure pulsation caused by the Teager energy operator being susceptible to high-frequency vibration interference, the present invention provides solutions in the following aspects.

[0006] In a first aspect, the present invention provides a pneumatic balancing method based on force-sensory control, comprising:

[0007] A force-sensing signal acquisition link is constructed, and the simulated force-sensing signal from the force-sensing handle is discretized, sampled, and filtered for noise reduction to obtain force-sensing sample values ​​in a time series. The force-sensing sample values ​​are demodulated using the Teager energy operator to calculate the instantaneous energy characterizing the transient burst intensity of the operational intention. Based on the waveform geometric characteristics of the force-sensing sample values ​​within a preset time window, a macroscopic trend consistency factor characterizing the persistence and directionality of the current motion intention is calculated. The instantaneous energy and the macroscopic trend consistency factor are fused to generate a transient effectiveness confidence level for suppressing tremor interference. The instantaneous energy is then gated and adjusted using the transient effectiveness confidence level to obtain the anti-hysteresis compensation pressure. When the pneumatic balance system is in a static hovering state, the static air pressure value generated inside the cylinder and balanced with the load gravity is read by the cylinder pressure sensor and locked as the base balance pressure. The anti-hysteresis compensation pressure is superimposed on the base balance pressure to generate the final control command for driving the pneumatic balance system.

[0008] Preferably, obtaining the force sampling values ​​over the time series includes:

[0009] The controller performs analog-to-digital conversion on the analog force signal output by the force sensor at a preset sampling frequency to obtain the original discrete data. The original discrete data is then processed using a short-window moving average filtering algorithm to filter out high-frequency electromagnetic white noise and output the force sampling values ​​at each time point.

[0010] Preferably, the instantaneous energy satisfies the expression:

[0011] ;

[0012] In the formula, Indicates time The instantaneous energy value; Indicates time Force sensory sample values; Indicates time The force sensory sample value from the previous moment; Indicates time The force sampling value at the next moment.

[0013] Preferably, the macroeconomic trend consistency factor satisfies the expression:

[0014] ;

[0015] In the formula, Indicates time Macroeconomic trend consistency factor; The length of the sliding window; Indicates time Push forward Force sensory sampling values ​​at each moment; Indicates time Push forward Force sensory sampling values ​​at each moment; To prevent tiny positive numbers with a denominator of zero.

[0016] Preferably, the transient effectiveness confidence level satisfies the expression:

[0017] ;

[0018] In the formula, Indicates time The confidence level of transient validity; It is the hyperbolic tangent function; For a moment Macroeconomic trend consistency factor; This is the sensitivity adjustment coefficient; This is the stringency index.

[0019] Preferably, the anti-hysteresis compensation pressure satisfies the expression:

[0020] ;

[0021] In the formula, Indicates time The pressure of antihypertensive compensation; It is a symbolic function; Indicates time Force sensory sample values; Indicates time The force sensory sample value from the previous moment; The preset pressure energy conversion coefficient; Indicates time The instantaneous energy value; Indicates time The confidence level of transient validity.

[0022] Secondly, the present invention provides a pneumatic balancing system based on force control, including a processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the above-mentioned pneumatic balancing method based on force control is implemented.

[0023] By adopting the above technical solution, a computer program is generated from the above-mentioned aerodynamic balancing method based on force control and stored in a memory so that it can be loaded and executed by a processor. In this way, a terminal device can be made based on the memory and the processor for convenient use.

[0024] The beneficial effects of this invention are as follows:

[0025] This invention utilizes the sensitivity of the Teager energy operator to changes in the product of signal amplitude and frequency, enabling it to capture the transient start point of the operator's intention before conventional amplitude detection. At the initial moment of the operator's exertion of force, the Teager energy operator can calculate a high-intensity energy pulse, providing the aerodynamic balancing system with the advance compensation basis required to overcome gas compressibility and pipeline transmission delay, fundamentally improving the dynamic tracking performance of the aerodynamic balancing system.

[0026] To address the challenge of filtering out high-frequency vibration interference in industrial settings, this invention constructs a macro-trend consistency factor. This factor analyzes the geometric characteristics of force signals within a sliding window and uses the ratio of the absolute value of the algebraic sum of force increments to the sum of the absolute values ​​of force increments for discrimination. For effective handling operations with clear directionality, the absolute value of the algebraic sum of force increments approaches the sum of the absolute values ​​of force increments, making the macro-trend consistency factor approach 1. For reciprocating hand tremors or mechanical vibrations, the sum of the absolute values ​​of force increments is large, but the absolute value of the algebraic sum of force increments is small, making the macro-trend consistency factor approach 0. This discrimination mechanism based on waveform geometry effectively distinguishes high-energy vibrations from real operations, avoiding misjudgments caused by traditional algorithms that rely solely on thresholds.

[0027] This invention constructs a transient effectiveness confidence level by integrating instantaneous energy and macroscopic trend consistency factors, forming a nonlinear intelligent adjustment mechanism. This intelligent adjustment mechanism uses the transient effectiveness confidence level as a weight to dynamically modulate against hysteresis compensation pressure. When a valid operation is detected, the transient effectiveness confidence level approaches 1, and the system releases the energy calculated by the Teager energy operator to compensate for hysteresis. When a tremor is detected, the transient effectiveness confidence level approaches 0, and the system shields high-energy signals, resolving the contradiction between response speed and anti-interference capability. While ensuring that the pneumatic balance system has an agile response to rapid start-stop operations, it effectively suppresses pressure pulsations and system malfunctions caused by physiological tremors, significantly improving the handling feel, positioning accuracy, and operational safety during heavy-load handling. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating a force-sensory control-based aerodynamic balancing method according to the present invention.

[0029] Figure 2 This is a schematic diagram of the force sampling value curve;

[0030] Figure 3 This is a schematic diagram of the instantaneous energy value curve;

[0031] Figure 4 This is a schematic diagram of the macroeconomic trend consistency factor curve;

[0032] Figure 5 This is a schematic diagram of the anti-hysteresis compensation pressure curve. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0035] This invention discloses an aerodynamic balancing method based on force perception control, referring to... Figure 1 This includes steps S1-S5:

[0036] S1. Construct a force signal acquisition link, discretize and filter the analog force signal of the force handle to obtain the force sample value in the time series.

[0037] It should be noted that in pneumatic balancing operations, the force-sensing handle is the entry point for human-machine interaction. The pushing or pulling force applied by the operator contains both the actual operational intent and unconscious hand tremors. To ensure that the control algorithm can capture millisecond-level changes in operational intent and perform subsequent digital signal processing, a high-frequency and clean signal input channel must be established to convert continuous analog physical quantities into discrete time series that can be processed by a computer. In addition, the raw signal often contains extremely high-frequency white noise caused by environmental electromagnetic interference. If not processed, this noise will interfere with the accuracy of subsequent energy operator calculations. Therefore, this invention collects the raw discrete data from the force-sensing handle and performs filtering processing on the raw discrete data.

[0038] Specifically, a high-precision force sensor, signal conditioning circuit, and controller are installed at the operating handle. The analog-to-digital converter module of the controller samples the analog signal output by the force sensor at a preset sampling frequency to obtain the original discrete data in the time series. In this embodiment, the sampling frequency is set to 1000Hz. In other embodiments, the implementer can set the sampling frequency according to the processing capability and real-time requirements of the controller, such as 800Hz or 2000Hz.

[0039] Furthermore, a short-window moving average filter is applied to the original discrete data to remove the extremely high-frequency electromagnetic white noise introduced by the sensor, thus obtaining the force sampling values ​​at each time point.

[0040] For example, Figure 2 This is a schematic diagram of the force sampling value curve. Figure 2In the diagram, the yellow dashed line represents the ideal actual operating intention, and the blue solid line represents the force sampling value. It can be seen that within the time interval of 1.0 second to 2.0 second, the signal is superimposed with obvious high-frequency vibration.

[0041] S2. Demodulate the force sensory sample values ​​using the Teager energy operator and calculate the instantaneous energy that characterizes the transient burst intensity of the operational intent.

[0042] It should be noted that conventional absolute value or first-order difference operations can only reflect the magnitude of force or the rate of change, and cannot fully reflect the energy density of force. In aerodynamic hysteresis compensation, additional air pressure assistance is needed to overcome the hysteresis caused by gas compressibility at the moment when the operator begins to apply force or suddenly accelerates, i.e., when the frequency and amplitude change simultaneously. The Teager energy operator can demodulate the amplitude and frequency of the signal simultaneously and is extremely sensitive to singularities and abrupt changes in the signal. Compared with conventional differential algorithms, it can detect the starting point of the operator's intention earlier, thus providing a basis for advance compensation. Therefore, this invention uses the Teager energy operator to calculate the instantaneous energy of the force sensory sample value.

[0043] Specifically, using the Teager energy operator, the instantaneous energy value of the force signal is calculated based on the force sampling value at the current moment and the force sampling values ​​at adjacent moments:

[0044] ;

[0045] In the formula, Indicates time The instantaneous energy value; Indicates time Force sensory sample values; Indicates time The force sensory sample value from the previous moment; Indicates time The force sensory sampling value at the next moment. In actual engineering implementation, since future data cannot be obtained, the latest data collected is considered as... The data from the previous sampling period is considered as The data from the previous sampling period is considered as When the system is at rest or moving at a constant speed, the force sensory sample values ​​change gradually. The signal approaches zero; when the operator performs a rapid push-pull or reversing operation, the signal changes abruptly. It will generate a large pulse value instantly. The larger the absolute value of the pulse value, the greater the intensity of the transient burst reflecting the operator's intention, indicating that the operator wants the pneumatic system to respond faster.

[0046] For example, Figure 3 This is a schematic diagram of the instantaneous energy value curve. Figure 3 The yellow highlighted area marks the tremor interference zone. Within this zone, although the macroscopic changes in the force signal are gradual, the instantaneous energy value is abnormally high. If the Teager operator is used directly as the basis for anti-hysteresis compensation, the tremor will be misjudged as an operational intention, leading to incorrect compensation.

[0047] S3. Based on the waveform geometric characteristics of the force sampling values ​​within a preset time window, calculate the macro-trend consistency factor that characterizes the persistence and directionality of the current motion intention.

[0048] It should be noted that relying solely on instantaneous Teager energy is insufficient to distinguish between effective manipulation and physiological tremors. While human hand tremors or mechanical vibrations have high frequencies, resulting in high Teager energy, on a macroscopic timescale, such as within tens of milliseconds, the average force change trend is typically oscillating back and forth, producing minimal net displacement. Conversely, effective handling operations, such as lifting heavy objects, exhibit a clear and continuous directionality on a macroscopic scale. Therefore, this invention analyzes the geometric characteristics of the waveform and utilizes the ratio of the net cumulative change in force to the total fluctuation path length to mechanistically verify whether the current high-energy signal possesses a clear direction of motion, thereby identifying tremors.

[0049] Specifically, a length of [length] is established in the controller. Using a sliding window, calculate the macroscopic trend consistency factor of the force perception signal within that window, satisfying the expression:

[0050] ;

[0051] In the formula, Indicates time The macroeconomic trend consistency factor has a value range of 0 to 1; The length of the sliding window; Indicates time Push forward Force sensory sampling values ​​at each moment; Indicates time Push forward Force sensory sampling values ​​at each moment; To prevent tiny positive numbers with a denominator of zero, this embodiment takes... .

[0052] In the formula, The absolute value of the algebraic sum of force increments represents the net cumulative change in force during that time period, i.e., the macroscopic displacement trend. The sum of the absolute values ​​of the force increment represents the total path length of the force fluctuation within that time period. When the operator performs continuous pushing and pulling, the direction of force change is consistent, and the path is close to a straight line. Approaching the denominator , making Approaching 1; when the operator trembles, the force reciprocates at high frequency, the path is long but the net displacement is small, the numerator is much smaller than the denominator. Approaching 0.

[0053] It should be further noted that, taking into account the physiological tremor frequency characteristics of the human hand at 8 Hz to 12 Hz, corresponding to a fluctuation period of approximately 83 milliseconds to 125 milliseconds, this invention adjusts the sliding window length. The value range is set to 20 to 200. This range is designed to create a balance between response speed and filtering strength: on the one hand, the upper limit of 200 can fully cover 1.5 to 2 cycles of the tremor signal, ensuring that the macro trend consistency factor effectively smooths out reciprocating oscillation interference through long window integration; on the other hand, the lower limit of 20 ensures that the window does not introduce excessive phase lag, and still has basic trend capture capabilities when dealing with extremely high frequency noise. Limiting the value to between 20 and 200 ensures that the system accurately eliminates jitter interference while keeping response latency within a range imperceptible to the operator, achieving an optimal balance between stability and agility. In this embodiment, it is preferable to... Setting it to 100 corresponds to a 100-millisecond time window to precisely match the center frequency cycle of human tremors; in other embodiments, the implementer can set it within the range of 20 to 200 according to the system's response bandwidth and tremor frequency characteristics. For example, 50 or 150.

[0054] For example, Figure 4 The diagram shows the macro trend consistency factor curve. During the effective push operation phase from 0.5 seconds to 1.0 seconds, the macro trend consistency factor remains at a high level. However, in the tremor interference zone from 1.0 seconds to 2.0 seconds, the macro trend consistency factor rapidly drops to an extremely low level close to 0. The macro trend consistency factor can accurately distinguish between effective operations and ineffective tremors based on the waveform geometric characteristics.

[0055] S4. By integrating the consistency factor between instantaneous energy and macroscopic trend, a transient effectiveness confidence level for suppressing tremor interference is generated. The transient effectiveness confidence level is then used to gating and adjust the instantaneous energy to obtain anti-hysteresis compensation pressure.

[0056] It should be noted that because the Teager energy operator is extremely sensitive to signal frequency, it may misjudge high-frequency but low-amplitude invalid vibrations as high-energy operation signals while capturing transient changes, thus causing malfunctions of pneumatic actuators and system jitter. Therefore, this invention establishes an intelligent gating mechanism that nonlinearly fuses the instantaneous energy reflecting the operation response speed with the macroscopic trend consistency factor reflecting the operation stability. Using the macroscopic trend consistency factor as a gating condition, the signal is only recognized as an effective intention and outputs compensation pressure when it has both high energy and trend consistency, while strongly suppressing vibration signals with high energy but inconsistent trends.

[0057] Specifically, the confidence level of transient effectiveness is calculated based on the macroeconomic trend consistency factor:

[0058] ;

[0059] In the formula, Indicates time The confidence level of transient validity; This is the hyperbolic tangent function, used to smoothly map the input to the interval between 0 and 1; For a moment Macroeconomic trend consistency factor; This is the sensitivity adjustment coefficient, used to control the activation threshold; This is a strictness index used to further suppress smaller macroeconomic trend consistency factors. When... A lower level indicates the presence of tremors, as indicated by the index. The function makes It rapidly decays to 0, thus suppressing tremor; when A higher value indicates a valid operation. It rapidly approaches 1.

[0060] It should be added that, due to the macroeconomic trend consistency factor The value of is between 0 and 1, when When, power function It exhibits nonlinear compression characteristics, suppressing low values ​​and retaining high values. Specifically, when the strictness index... When the value is too small, such as close to 1, the nonlinear compression effect is not obvious, and the macroscopic trend consistency factor generated by some strong flutter signals with large amplitude but chaotic direction is not significant. It cannot be effectively attenuated, which can easily lead to false triggering; and when When the value is too large, such as greater than 5, the requirement for waveform consistency is too stringent. Even with normal, rapid human hand operation, slight directional jitter can lead to problems. Excessive compression to near zero causes the system to ignore valid operations. Therefore, this invention sets the range of the strictness index to... This ensures consistency with macroeconomic trends. When the level is low (tremors), the exponential effect is used to quickly reduce it to zero, while the macroeconomic trend consistency factor... The value remains stable at higher (effective operating) levels. In this embodiment, it is preferable to... Setting it to 1.5, this value can moderately attenuate background jitter noise while retaining most of the effective operating signal energy, avoiding discontinuous operation feel due to excessive suppression. It achieves a good balance between jitter suppression and operational smoothness. In other embodiments, the implementer can adjust the value according to the required intensity of jitter suppression. Set within range .

[0061] Sensitivity adjustment coefficient Its function is to pass the strictness index The filtered signal is amplified to the hyperbolic tangent function. The saturation region, that is, the region close to 1, specifically, according to The function's characteristic is that when the input value reaches approximately 2.5, the output value is close to 0.98. If the value is too small, for example, less than 1, even the macroeconomic trend consistency factor... Even with a value of 1, the output of tanh is unlikely to saturate, meaning the transient validity confidence level is low. Unable to approach 1, resulting in insufficient compensation pressure output and a soft feel from the system's assist; if If the value is too large, such as greater than 6, the transition band of the tanh function will become extremely narrow, and the system characteristics will approach those of switch control. This will cause the compensation pressure to change abruptly at the moment of triggering, disrupting the smoothness of aerodynamic balance. Therefore, this invention adjusts the sensitivity coefficient... The value range is set to [1, 6] to ensure that the transient validity confidence level is high when a valid operation is detected. It can smoothly and sufficiently approach 1, achieving full compensation. In this embodiment, it is preferable to... Setting it to 3 ensures that when the force signal exhibits a high degree of macroscopic trend consistency, the input signal can be sufficiently amplified to the saturation range of the hyperbolic tangent function, allowing the transient effectiveness confidence to rapidly and stably approach its maximum value. This guarantees that the pneumatic balance system can output sufficient anti-hysteresis compensation pressure during effective operation, providing strong and responsive power assistance and avoiding dragging sensations caused by insufficient gain. In other embodiments, the implementer can set it within the range of [1, 6] according to the tolerance for tremors. .

[0062] Furthermore, by considering the direction of change in the binding force, the anti-hysteresis compensation pressure is calculated:

[0063] ;

[0064] In the formula, Indicates time The pressure of antihypertensive compensation; The sign function is used to extract time. Force sampling value Compared to the force sampling value at the previous moment The direction of change ensures that the direction of compensating pressure aligns with the operational intent. Figure 1 To; This is a preset pressure-energy conversion coefficient used to map dimensionless energy values ​​to the pressure control level of the pneumatic system. In this embodiment, it is determined through on-site debugging. The value is 0.05 In other embodiments, the implementer can set the parameters according to the cylinder bore and the flow characteristics of the electro-proportional valve. ; Indicates time The instantaneous energy value; Indicates time The confidence level of transient validity.

[0065] For example, Figure 5 This is a schematic diagram of the anti-hysteresis compensation pressure curve. Figure 5 The comparison between the final output anti-hysteresis compensation pressure and the traditional method is shown. The gray curve represents the traditional Teager energy compensation without suppression, showing severe clutter in the flutter zone. The purple solid line represents the output of the method of the present invention, showing that a strong compensation pulse is generated at the moment of start-up and commutation to overcome hysteresis, while maintaining a stable zero output in the flutter interference zone, achieving perfect suppression of flutter.

[0066] S5. The anti-hysteresis compensation pressure is superimposed on the basic balance pressure to generate the final control command for driving the aerodynamic balance system.

[0067] It should be noted that the basic balance pressure is the benchmark for the pneumatic balancing system to achieve gravity compensation. It is the static air pressure value required for the cylinder to generate a lifting force that balances the load gravity without the action of external operating force, and is used to ensure that the load can be stably suspended.

[0068] Specifically, when the pneumatic balancing system is in a stationary hovering state, the current air pressure is directly read and locked as the basic balancing pressure through the cylinder pressure sensor.

[0069] Furthermore, the calculated anti-hysteresis compensation pressure is superimposed on the basic balance pressure to obtain the final control command for the electro-proportional valve:

[0070] ;

[0071] In the formula, Indicates time The final control command for the electro-proportional valve, Indicates time The basic equilibrium pressure, Indicates time Hysteresis compensation pressure. When flutter interference occurs. Approaching 0, leading to Approaching 0, even at this point It's very large, calculated It will also approach zero, and the system remains stable; however, in real-world, rapid operations, Approaching 1, leading to As the pressure approaches 1, the high energy of the Teager is fully released, generating a strong pressure pulse that instantly overcomes aerodynamic lag.

[0072] The pneumatic balancing system is based on the final control command. When the drive cylinder moves and vibration interference occurs, the macro trend consistency factor... The value approaches 0, resulting in a lower confidence level for transient validity. Approaching 0, at which point even the absolute value of Teager's instantaneous energy value... The calculated anti-hysteresis compensation pressure is very large. It will also approach zero, keeping the system stable; however, in real, rapid operations, the macroeconomic trend consistency factor... The value approaches 1, leading to a higher confidence level for transient validity. As the pressure approaches 1, the high energy of the Teager is fully released, generating a strong pressure pulse that instantly overcomes aerodynamic lag.

[0073] This invention also discloses a force-based pneumatic balancing system, including a processor and a memory. The memory stores computer program instructions, which, when executed by the processor, implement a force-based pneumatic balancing method according to the present invention.

[0074] The system also includes other components well known to those skilled in the art, such as communication buses and communication interfaces, the settings and functions of which are known in the art and will not be described in detail here.

[0075] In the description of this specification, "multiple" or "several" means at least two, such as two, three or more, unless otherwise expressly and specifically defined.

[0076] While this specification has shown and described numerous embodiments of the invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in the practice of this invention.

Claims

1. A pneumatic balancing method based on force perception control, characterized in that, include: A force sensor signal acquisition link is constructed, and the analog force sensor signal of the force sensor handle is discretized, sampled, filtered, and denoised to obtain the force sensor sample values ​​in the time series. The Teager energy operator is used to demodulate the force sensory sampling values, and the instantaneous energy characterizing the transient burst intensity of the operational intent is calculated. Based on the waveform geometric characteristics of the force sampling values ​​within a preset time window, a macro-trend consistency factor characterizing the persistence and directionality of the current motion intention is calculated. This macro-trend consistency factor satisfies the following expression: In the formula, Indicates time Macroeconomic trend consistency factor; The length of the sliding window; Indicates time Push forward Force sensory sampling values ​​at each moment; Indicates time Push forward Force sensory sampling values ​​at each moment; To prevent tiny positive numbers with a denominator of zero; By integrating instantaneous energy and macroscopic trend consistency factors, a transient effectiveness confidence score for suppressing tremor interference is generated, which satisfies the expression: In the formula, Indicates time The confidence level of transient validity; It is the hyperbolic tangent function; This is a preset sensitivity adjustment coefficient used to control the activation threshold; This is a preset stringency index used to suppress smaller macroeconomic trend consistency factors; By using transient effectiveness confidence to gate and regulate instantaneous energy, hysteresis compensation pressure is obtained; When the pneumatic balancing system is in a stationary hovering state, the static air pressure value generated inside the cylinder and balanced by the load gravity is read by the cylinder pressure sensor and locked as the basic balance pressure; the anti-hysteresis compensation pressure is superimposed on the basic balance pressure to generate the final control command for driving the pneumatic balancing system.

2. The aerodynamic balancing method based on force perception control according to claim 1, characterized in that, The process of obtaining force sampling values ​​over a time series includes: The controller performs analog-to-digital conversion on the analog force signal output by the force sensor at a preset sampling frequency to obtain the original discrete data. The original discrete data is then processed using a short-window moving average filtering algorithm to filter out high-frequency electromagnetic white noise and output the force sampling values ​​at each time point.

3. The aerodynamic balancing method based on force perception control according to claim 1, characterized in that, The instantaneous energy satisfies the expression: ； In the formula, Indicates time The instantaneous energy value; Indicates time Force sensory sample values; Indicates time The force sensory sample value from the previous moment; Indicates time The force sampling value at the next moment.

4. The aerodynamic balancing method based on force perception control according to claim 3, characterized in that, The anti-hysteresis compensation pressure satisfies the expression: ； In the formula, Indicates time The pressure of antihypertensive compensation; It is a symbolic function; Indicates time Force sensory sample values; Indicates time The force sensory sample value from the previous moment; The preset pressure energy conversion coefficient; Indicates time The instantaneous energy value; Indicates time The confidence level of transient validity.

5. A pneumatic balancing system based on force-sensing control, characterized in that, include: A processor and a memory, the memory storing computer program instructions that, when executed by the processor, implement a force-based aerodynamic balancing method according to any one of claims 1-4.

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