Powered Backpack Load Acceleration Control Under Human Disturbance
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Solution Overview
Problem
Existing powered backpacks face challenges in controlling load acceleration in the vertical direction due to human motion interference, leading to poor acceleration tracking and increased metabolic energy consumption and musculoskeletal damage.
Innovation Solution
An acceleration control method based on a disturbance observer using feedback linearization and frequency domain analysis to identify the friction model and second-order linear model of the powered backpack, which calculates the motor drive current to overcome disturbances and improve dynamic response and tracking accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional control methods are used for powered backpack load acceleration, then the system structure remains simple, but the acceleration tracking accuracy deteriorates due to human motion interference
Solution Approach 1:
The patent implements a disturbance observer that continuously monitors the actual acceleration and compares it with the desired acceleration, using the error signal to adjust the motor drive current in real-time. This feedback mechanism compensates for human motion interference and improves acceleration tracking accuracy despite the added control complexity
Solution Approach 2:
The disturbance observer acts as an intermediary component between the control input and the load acceleration. It estimates and compensates for disturbances (human motion interference) before they affect the acceleration tracking, thereby improving precision without directly increasing the complexity of the motor control itself
2Speed
If friction forces are not compensated, then the control system remains simple, but the dynamic response deteriorates due to friction interference
Solution Approach 1:
The friction compensation term is calculated in advance based on the current state (position, velocity) and added to the control input before actuation. This preliminary compensation for friction forces ensures that the motor overcomes friction proactively, improving dynamic response without requiring complex real-time friction estimation during motion
3Use of energy by moving object
If disturbance compensation is not implemented, then the system structure remains simple, but the metabolic energy consumption increases due to poor acceleration control
Solution Approach 1:
The disturbance observer uses feedback from actual acceleration measurements to continuously adjust the compensation force, ensuring that the powered backpack accurately tracks desired acceleration profiles. This reduces unnecessary metabolic energy consumption by the carrier while accepting the complexity of the control system
Solution Approach 2:
The disturbance observer enables the powered backpack system to self-correct for disturbances and friction without external intervention. By automatically estimating and compensating for disturbances, the system reduces the metabolic burden on the carrier while maintaining the complexity necessary for autonomous disturbance rejection
Data Source
AI summary
The disclosure belongs to the technical field of powered drive devices, and discloses an acceleration control method for a load on a powered backpack based on a disturbance observer. The method includes: S1 setting the desired acceleration of the load on the powered backpack, presetting the initial motor drive current that regulates the movement of the load according to the desired acceleration, measuring the actual acceleration of the load; S2 establishing the disturbance observer for controlling acceleration the load on the powered backpack, using the disturbance observer to calculate the motor drive current that makes the actual acceleration of the load equal to the desired acceleration, so as to realize the acceleration control of the load on the powered backpack.