CN105108761B - Reduced-order adaptive robust cascading force control method for single-joint powered exoskeleton - Google Patents
Reduced-order adaptive robust cascading force control method for single-joint powered exoskeleton Download PDFInfo
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Abstract
The invention discloses a reduced-order adaptive robust cascading force control method for the single-joint powered exoskeleton. A reduced-order model is adopted by aiming at the power reinforcement and following problems of the single-joint powered exoskeleton driven by a hydraulic cylinder, errors caused by sensor precision problems are effectively eliminated, and controller design is simplified. The cascading force control method is adopted in the controller design, an upper-layer controller and a lower-layer controller are designed, a single-joint reference track is generated by the upper-layer controller, and the reference track is tracked through the lower-layer controller. When the powered exoskeleton bears weights, man-machine acting force is minimized to achieve power assistance and motion along with a person. The upper-layer controller and the lower-layer controller are designed through an adaptive robust control (ARC) algorithm, the influence of model nondeterminacy of the single-joint powered exoskeleton is effectively overcome, the good following and assisting effects of the powered exoskeleton to the motion of the person are achieved, and high application value is achieved.
Description
Technical field
The present invention relates to robot control field, more particularly to a kind of simple joint assistance exoskeleton based on reduced-order model is certainly
The method for adapting to robust cascade power control.
Background technology
Soldiers are frequently necessary to bear weight and carry out long range walking or operation, and overweight load often can be to soldier's body
Certain injury is caused, a can strengthen soldier's speed, strength and resistance in battlefield surroundings, it is necessary to develop under this background
The ectoskeleton equipment of power；In fields such as scientific investigation, fire-fighting rescues, scientific investigation personnel and fire-fighting rescue worker usually need row over long distances
Walk, bear weight, transport the wounded, Field Operational, mountain climbing expedition etc., traditional wheeled vehicles are difficult in these special occasions
Play a role.In addition, ectoskeleton can also be used for the cargo handling in warehouse, to mitigate the labour intensity of porter.
Ectoskeleton adapts to non-structured environment with the combination of people, possesses fabulous flexibility, can complete the handling of some complexity
Work, such as fighter plane load and unload guided missile, this is that other handling facilities hardly match.Ectoskeleton should these fields
With very positive effect will be played to these fields.In addition, aging is just in global spread, the appearance of ectoskeleton not only can be with
Some the elderlys are helped to solve the problems, such as that muscle power is poor, it is constant to walk, it is also possible to help some to lose the people of ability to act and recover
Partial ability to act.The characteristics of assistance exoskeleton is to require to be cooperated with wearer under non-structure environment, and this requirement is ground
Studying carefully personnel needs to solve the problems, such as the man-machine integration of hight coordinate under unstructuredness environment, including effective, reliable between humans and machines is handed over
Mutual problem, the quick response problem being intended to human motion, light, flexible biomimetic features design, the security of man-machine system
Problem etc., these technical problems are also in the primary stage of fumbling and immature, in addition it is also necessary to carry out in-depth study.
The content of the invention
The purpose of the present invention is directed to the deficiencies in the prior art, there is provided a kind of simple joint assistance exoskeleton self adaptation of depression of order
The method of robust cascade power control, the method is effective between humans and machines interaction problems, reliable, and fast with being intended to human motion
The characteristics of speed response.
In order to achieve the above object, the technical solution adopted in the present invention is as follows：A kind of simple joint power-assisted dermoskeleton of depression of order
The method of bone ADAPTIVE ROBUST cascade power control, the simple joint assistance exoskeleton includes hydraulic cylinder, joint rotary encoder, power
Sensor, the first rod member, the second rod member, bandage, electrohydraulic servo valve, servo amplification board, real-time controller etc.；First rod member
It is connected through the hinge with the second rod member, joint rotary encoder is set in hinged place；One end of hydraulic cylinder is hinged with the first rod member,
The other end is hinged with the second rod member；Force snesor is arranged on the second rod member, and bandage is connected with force snesor；Hydraulic cylinder with it is electro-hydraulic
Servo valve be connected, electrohydraulic servo valve is connected with servo amplification board, servo amplification board, joint rotary encoder and force snesor with
Real-time control is connected；The method comprises the following steps：
(1) the sampling period T of real-time controller is initialized, the value of T is taken between 10 to 20 milliseconds；
(2) first rod member and the second rod member of simple joint assistance exoskeleton are rotated to parallel position, now, initialization is single
Joint rotary encoder on joint assistance ectoskeleton, the numerical value of joint rotary encoder is returned to zero；
(3) initialization bit returns to zero the numerical value of force snesor in the force snesor on the second rod member；
(4) physical model of simple joint assistance exoskeleton is set up, and is translated into state equation；The physical model bag
Include：The discharge model of man-machine interface model, hydraulic cylinder load movement model, the cavity pressure model of hydraulic cylinder two and servo valve；
(5) state equation to the physical model of simple joint assistance exoskeleton carries out depression of order treatment；
(6) people is connected with the force snesor on ectoskeleton simple joint by bandage, determines the active force on force snesor
Thm, by upper strata ARC controllers, obtain the reference displacement α of ectoskeleton1；
(7) the actual corners angle value of ectoskeleton, the ginseng of the ectoskeleton obtained according to step 6 are obtained by joint rotary encoder
Examine displacement α1, by the actual corners angle value of ectoskeleton and the reference displacement α of ectoskeleton1As the defeated of lower floor ARC Position Tracking Control devices
Enter amount, design lower floor ARC Position Tracking Control devices, lower floor ARC Position Tracking Control devices are output as simple joint assistance exoskeleton
Control voltage u；
(8) the control voltage u for being obtained step 7 by servo valve amplification board is converted into the control electric current of servo valve；
(9) spool displacement of servo valve is controlled by control electric current to control the pressure at hydraulic cylinder two ends, promotes hydraulic cylinder
Motion, that realizes simple joint assistance exoskeleton follows motion.
Further, the step 4 is concretely comprised the following steps：
The physical model of simple joint assistance exoskeleton is set up, wherein the physical model includes：
Man-machine interface model：
Hydraulic cylinder load movement model：
The cavity pressure model of hydraulic cylinder two：
The discharge model of servo valve：
Wherein, ThmIt is man-machine active force, K is the rigidity of man-machine interface, qhIt is respectively displacement and the position of ectoskeleton of people with q
Move,It is the first derivative of the displacement of ectoskeleton,It is the second dervative of the displacement of ectoskeleton；It is the collection in man-machine interface
Middle model uncertainty and interference, J are the rotary inertias of simple joint assistance exoskeleton, and h is the arm of force of hydraulic cylinder power output, P1With
P2It is respectively the pressure in the chamber of hydraulic cylinder two, A1And A2It is the area in two chambers, m is load quality, and g is acceleration of gravity, lcIt is joint
To the distance of power sensing, B is damping viscous friction coefficient, and A is static friction coefficient,It is for being fitted sign functionSmooth function, It is the lumped model uncertainty in simple joint assistance exoskeleton
And interference, V1And V2It is respectively the volume in the chamber of hydraulic cylinder two, βeIt is the bulk modulus of fluid, Q1And Q2It is respectively oil-feed flow
With fuel-displaced flow,It is respectively lumped model uncertainty and interference on inlet and outlet oil circuit, xvIt is valve element
Displacement, kq1,kq2The flow gain coefficient of mouth, P are into and out respectivelysIt is the charge oil pressure of pump, PrIt is the pressure on oil-out, u is
The control voltage of servo valve；
Because man-machine interface model is an equation for static state, so Thm、qhRelation and q between be it is static, in order to
Can be with the man-machine active force T of dynamic controlhm, with the integration of man-machine active forceTo replace Thm；
The step of physical model is converted into state equation is as follows：
Writ state variableWherein,
If lumped model uncertainty is：
Lumped model uncertainty is divided into constant and time-varying function two parts, i.e.,
Wherein, ΔinIt is constant, ΔiIt is time-varying function；IfWherein,Then simple joint power-assisted dermoskeleton
The state equation of the physical model of bone is：
Wherein：
Further, the step of depression of order is processed in the step 5 is as follows：
The formula (7) and formula (8) that will be obtained in step 4 merge, and obtain the second-order equation of the cavity pressure model of hydraulic cylinder two：
Wherein,WillIt is divided into low frequency component θeWith high frequency time-varying component Δe, i.e.,
The intrinsic frequency of this second-order system is：
According to practical operation situation, the intrinsic frequency w of this second-order systemnBetween 5 to 10 hertz, and simple joint ectoskeleton
The closed loop frequency range of system is between 1 to 2 hertz, therefore the dynamics of the cavity pressure model of hydraulic cylinder two can be ignored, so that hydraulic cylinder
The second-order equation of two cavity pressure models is changed into following form：
Simultaneous formula (5), formula (6) and formula (9) formula, the state equation for obtaining the reduced-order model of simple joint assistance exoskeleton is：
Wherein,
Further, the control method of the step 6 ARC controllers at the middle and upper levels is as follows：
The formula (10) obtained according to step 5, designs upper strata ARC controllers；If z1=x1-x1d, wherein x1dIt is desired people
The integration of machine active force, value is 0；If α1It is the reference displacement of ectoskeleton, the reference displacement α of the ectoskeleton1Effect be to make one
The tracking error z of machine active force1Quickly it is intended to zero, α1Determination method it is as follows：
IfTo tracking error z1Differential is carried out, is obtained：
Make α1=α1a+α1s1+α1s2, wherein, K1s1=g1||Γ1
φ1||2+K1, K1,g1It is any nonnegative number；It is to parameter θ1, θ2Estimate, according to actual physics model, obtain
The scope of the two estimates is：WhereinIt is to parameter θ1EstimateMinimum value,
It is to parameter θ1EstimateMaximum,It is to parameter θ2EstimateMinimum value,It is to parameter θ2's
EstimateMaximum；And the two estimatesValue in the ARC controllers of upper strata by adaptive rateObtain, wherein, τ1=w1φ1z1,w1It is weight system
Number, its value is any nonnegative number；γ1And γ2It is any nonnegative number；Adaptive rateMapping function be
IfAccording to ARC control algolithms, α1s2Following two conditions must are fulfilled for, i.e.,：
Wherein,ε1It is threshold value, its value is any nonnegative number.
Further, the step of lower floor ARC Position Tracking Control devices are designed in the step 7 is as follows：
According to (11) that step 5 is obtained, if tracking error z2=x2-x2d, wherein x2d=α1；
To tracking error z2Differential is carried out to obtain：Wherein,QLFor virtual controlling is input into；
According to ARC control algolithms, virtual controlling is made to be input into QL=αL, αL=αLa+αLs1+αLs2, wherein, k2,g2It is any non-negative
Number；It is to parameter θeEstimate, according to actual physics model, the scope that can obtain this estimate is：
WhereinIt is to parameter θeEstimateMinimum value,It is to parameter θeEstimation
ValueMaximum；And this estimateValue in lower floor's ARC controllers by adaptive rateObtain, its
In,w2It is weight coefficient, its value is any nonnegative number；γ3Value be any non-
Negative, adaptive rateMapping function be
IfFrom ARC control algolithms, αLs2Following two conditions must are fulfilled for, i.e.,：
Wherein,ε2It is threshold value, its value is any nonnegative number；
Q is input into according to virtual controllingL, the control voltage u for obtaining servo valve is：
The present invention has an advantageous effect in that compared with background technology：The present invention proposes a kind of list based on reduced-order model
Joint assistance ectoskeleton ADAPTIVE ROBUST cascade power control method, mainly under long-time heavy burden operating environment auxiliary or
The control method of the simple joint assistance exoskeleton of the walking ability of person enhancing people.For Driven by Hydraulic Cylinder simple joint power-assisted dermoskeleton
Bone reinforcement and problem is followed, employ cascade force control method, make use of adaptive robust control algorithm (ARC) to design up and down
Layer controller, effectively overcomes the influence of the model uncertainty of simple joint assistance exoskeleton, realizes assistance exoskeleton to people
That moves is good with amiable power-assisted effect, while using reduced-order model, effectively overcoming sensor accuracy problem to close ectoskeleton list
Section control has a negative impact, and is easy to the design of controller, and with stronger application value, whole control method is realized simply,
It is easy to Project Realization, and control is flexible.
Brief description of the drawings
Fig. 1 is global shape structural representation of the invention；
Fig. 2 is control block diagram of the invention；
Fig. 3 is control flow chart of the invention；
In figure, hydraulic cylinder 1, joint rotary encoder 2, force snesor 3, the first rod member 4, the second rod member 5, bandage 6.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
As shown in figure 1, a kind of simple joint assistance exoskeleton includes：Hydraulic cylinder 1, joint rotary encoder 2, force snesor 3,
First rod member 4, the second rod member 5, bandage 6, electrohydraulic servo valve (not shown), servo amplification board (not shown), in real time
Controller (not shown)；The rod member 5 of first rod member 4 and second is connected through the hinge, and joint rotation is set in hinged place
Encoder 2；One end of hydraulic cylinder 1 is hinged with the first rod member 4, and the other end is hinged with the second rod member 5；Force snesor 3 is arranged on
On two rod members 5, bandage 6 is connected with force snesor 3.
Hydraulic cylinder 1 is connected with electrohydraulic servo valve, and electrohydraulic servo valve is connected with servo amplification board, servo amplification board, joint rotation
Turn encoder 2 and force snesor 3 is connected with real-time controller.The adoptable model NI cRIO- of real-time controller
9031 product, but not limited to this；The product of the adoptable model Star WO36829/1 of servo valve amplification board, but not
It is limited to this.
In order to overcome the influence of simple joint assistance exoskeleton model uncertainty present in modeling process, power-assisted is realized
It is good with amiable power-assisted effect that ectoskeleton is moved to people, and employ can be with for simple joint assistance exoskeleton control method in the present invention
The adaptive robust control (ARC) for overcoming model uncertainty to influence very well.The principle of adaptive robust control (ARC) is to pass through
Design adaptive rate constantly adjusts model parameter, and feedforward compensation is done to Controlling model to ensure zero tracking error under static state,
Feed back to ensure the dynamic characteristic and stability of simple joint assistance exoskeleton system by the robust for designing.Meanwhile, using cascade
Control method, designs levels controller, realizes trajectory planning and track following to simple joint assistance exoskeleton, while using
Reduced-order model, effectively overcomes sensor accuracy problem to have a negative impact the control of ectoskeleton simple joint, is easy to setting for controller
Meter, with stronger application value, whole control algolithm is realized simple, it is easy to Project Realization, and control is flexible.
As shown in Fig. 2 a kind of method of the simple joint assistance exoskeleton ADAPTIVE ROBUST cascade power control of depression of order, specific bag
Include following steps：
(1) simple joint assistance exoskeleton is fixed on the shank of people by bandage 6；Initialize the sampling of real-time controller
Cycle T, takes the value of T between 10 to 20 milliseconds；
(2) first rod member 4 and the second rod member 5 of simple joint assistance exoskeleton are rotated to parallel position, now, initialization
Joint rotary encoder 2 in simple joint assistance exoskeleton, the numerical value of joint rotary encoder 2 is returned to zero；
(3) initialization bit returns to zero the numerical value of force snesor 3 in the force snesor 3 on the second rod member 5；
(4) physical model of simple joint assistance exoskeleton is set up, and is translated into state equation, the physical model bag
Include：
Man-machine interface model：
Hydraulic cylinder load movement model：
The cavity pressure model of hydraulic cylinder two：
The discharge model of servo valve：
Wherein, ThmIt is man-machine active force, K is the rigidity of man-machine interface, qhIt is respectively displacement and the position of ectoskeleton of people with q
Move,It is the first derivative of the displacement of ectoskeleton,It is the second dervative of the displacement of ectoskeleton；It is the concentration in man-machine interface
Model uncertainty and interference, J are the rotary inertias of simple joint assistance exoskeleton, and h is the arm of force of hydraulic cylinder power output, P1And P2
It is respectively the pressure in the chamber of hydraulic cylinder two, A1And A2It is the area in two chambers, m is load quality, and g is acceleration of gravity, lcIt is that joint is arrived
The distance of power sensing, B is damping and viscous friction coefficient, and A is static friction coefficient,It is for being fitted sign functionSmooth function,,It is the lumped model uncertainty in simple joint assistance exoskeleton
And interference, V1And V2It is respectively the volume in the chamber of hydraulic cylinder two, βeIt is the bulk modulus of fluid, Q1,Q2It is respectively oil-feed flow
With fuel-displaced flow,It is respectively lumped model uncertainty and interference on inlet and outlet oil circuit, xvIt is valve element
Displacement, kq1,kq2The flow gain coefficient of mouth, P are into and out respectivelysIt is the charge oil pressure of pump, PrIt is the pressure on oil-out, u is
The control voltage of servo valve；
Because man-machine interface model is an equation for static state, so Thm、qhRelation and q between be it is static, in order to
Can be with the man-machine active force T of dynamic controlhm, with the integration of man-machine active forceTo replace Thm；
The step of physical model is converted into state equation is as follows：
Writ state variableWherein,If
Lumped model uncertainty is：
Lumped model uncertainty is divided into constant and time-varying function two parts, i.e.,Wherein,
ΔinIt is constant, ΔiIt is time-varying function；IfWherein,
Then simple joint
The state equation of the physical model of assistance exoskeleton is：
Wherein：
(5) state equation to the physical model of simple joint assistance exoskeleton carries out depression of order treatment, makes outside simple joint power-assisted
Bone control system is applied to coarse sensor；The step of depression of order is processed is as follows：
The formula (7) and formula (8) that will be obtained in step 4 merge, and obtain the second-order equation of the cavity pressure model of hydraulic cylinder two：
Wherein,WillIt is divided into low frequency component θeWith high frequency time-varying component Δe, i.e.,
The intrinsic frequency of this second-order system is：
According to practical operation situation, the intrinsic frequency w of this second-order systemnBetween 5 to 10 hertz, and simple joint ectoskeleton
The closed loop frequency range of system is between 1 to 2 hertz, therefore the dynamics of the cavity pressure model of hydraulic cylinder two can be ignored, so that hydraulic cylinder
The second-order equation of two cavity pressure models is changed into following form：
Simultaneous formula (5), formula (6) and formula (9) formula, the state equation for obtaining the reduced-order model of simple joint assistance exoskeleton is：
Wherein,
(6) people is connected with the force snesor 3 on ectoskeleton simple joint by bandage 6, determines the effect on force snesor
Power Thm, by upper strata ARC controllers, obtain the reference displacement α of ectoskeleton1, the control method of upper strata ARC controllers is as follows：
The formula (10) obtained according to step 5, designs upper strata ARC controllers；If z1=x1-x1d, wherein x1dIt is desired people
The integration of machine active force, value is 0；If α1It is the reference displacement of ectoskeleton, this refers to displacement α1Effect be to make man-machine active force
Tracking error z1Quickly it is intended to zero, α1Determination method it is as follows：
IfTo tracking error z1Differential is carried out, is obtained：
Make α1=α1a+α1s1+α1s2, wherein, K1s1=g1||Γ1
φ1||2+K1, K1,g1It is any nonnegative number；In this example, K is chosen1s1=g1||Γ1φ1||2+K1=20,It is to ginseng
Number θ1, θ2Estimate, according to actual physics model, the scope for obtaining the two estimates is：WhereinIt is to parameter θ1EstimateMinimum value,It is to parameter θ1EstimateMaximum,It is to parameter θ2
EstimateMinimum value,It is to parameter θ2EstimateMaximum；And the two estimatesValue exist
By adaptive rate in the ARC controllers of upper strataObtain, wherein, τ1=w1
φ1z1,w1It is weight coefficient, its value is any nonnegative number, and 1 is set as in the present embodiment；γ1And γ2It is to appoint
Meaning nonnegative number, is set as γ in the present embodiment1=0, γ2=60；Adaptive rateMapping function be
IfAccording to ARC control algolithms, α1s2Following two conditions must are fulfilled for, i.e.,：
Wherein,It is estimateSubtract actual valueI.e.ε1It is threshold value, its
It is any nonnegative number to be worth, and ε is set as in the present embodiment1=1, choose α1s2=0；
(7) the actual corners angle value of ectoskeleton is obtained by joint rotary encoder 2, the ectoskeleton obtained according to step 6
With reference to displacement α1, by the actual corners angle value of ectoskeleton and the reference displacement α of ectoskeleton1As lower floor ARC Position Tracking Control devices
Input quantity, lower floor ARC Position Tracking Control devices are output as the control voltage of simple joint assistance exoskeleton；
According to (11) that step 5 is obtained, if tracking error z2=x2-x2d, wherein x2d=α1；
To tracking error z2Differential is carried out to obtain：Wherein,QLFor virtual controlling is input into；
According to ARC control algolithms, virtual controlling is made to be input into QL=αL, αL=αLa+αLs1+αLs2, wherein, k2,g2It is any non-negative
Number；K is chosen in the present embodiment2s1=g2||Γ2φ2||2+k2=30,It is to parameter θeEstimate, according to actual physics mould
Type, the scope that can obtain this estimate is：WhereinIt is to parameter θeEstimateMinimum
Value,It is to parameter θeEstimateMaximum；And this estimateValue in lower floor's ARC controllers by adaptive
Should rateObtain, wherein, Γ2=γ3, τ2=w2φ2z2,w2It is weight coefficient, its value is to appoint
Meaning nonnegative number, is set as 1 in the present embodiment；γ3Value be any nonnegative number, 2000, adaptive rate are set as in the present embodiment
Mapping function be
IfFrom ARC control algolithms, αLs2Following two conditions must are fulfilled for, i.e.,：
Wherein,It is estimateSubtract actual value θε, i.e.,ε2It is threshold value, its value is any nonnegative number, this reality
Apply and be set as ε in example2=1, choose αLs2=0；
Q is input into according to virtual controllingL, the control voltage u for obtaining servo valve is：
(8) the control voltage u for being obtained step 7 by servo valve amplification board is converted into the control electric current of servo valve；
(9) spool displacement of servo valve is controlled by control electric current to control the pressure at hydraulic cylinder two ends, promotes hydraulic cylinder
Motion, that realizes simple joint assistance exoskeleton follows motion.
General principle of the invention is the foregoing described, principal character not limits technical scheme described in the invention, one
The technical scheme and its improvement for not departing from spirit and scope are cut, all should be covered in the middle of scope of the presently claimed invention.
Claims (5)
1. the method that a kind of simple joint assistance exoskeleton ADAPTIVE ROBUST cascade power of depression of order is controlled, the simple joint power-assisted dermoskeleton
Bone includes hydraulic cylinder (1), joint rotary encoder (2), force snesor (3), the first rod member (4), the second rod member (5), bandage
(6), electrohydraulic servo valve, servo amplification board, real-time controller；First rod member (4) and the second rod member (5) are connected by hinge
Connect, joint rotary encoder (2) is set in hinged place；One end of hydraulic cylinder (1) is hinged with the first rod member (4), the other end and
Two rod members (5) are hinged；Force snesor (3) is arranged on the second rod member (5), and bandage (6) is connected with force snesor (3)；Hydraulic cylinder
(1) be connected with electrohydraulic servo valve, electrohydraulic servo valve is connected with servo amplification board, servo amplification board, joint rotary encoder (2) and
Force snesor (3) is connected with real-time controller；Characterized in that, the method comprises the following steps：
(1) the sampling period T of real-time controller is initialized, the value of T is taken between 10 to 20 milliseconds；
(2) first rod member (4) of simple joint assistance exoskeleton and the second rod member (5) rotation now, are initialized to parallel position
Joint rotary encoder (2) in simple joint assistance exoskeleton, the numerical value of joint rotary encoder (2) is returned to zero；
(3) initialization bit returns to zero the numerical value of force snesor (3) in the force snesor (3) on the second rod member (5)；
(4) physical model of simple joint assistance exoskeleton is set up, and is translated into state equation；The physical model includes：
The discharge model of man-machine interface model, hydraulic cylinder load movement model, the cavity pressure model of hydraulic cylinder two and electrohydraulic servo valve；
(5) state equation to the physical model of simple joint assistance exoskeleton carries out depression of order treatment；
(6) people is connected with the force snesor (3) on ectoskeleton simple joint by bandage (6), determines the effect on force snesor
Power Thm, by upper strata ARC controllers, obtain the reference displacement α of ectoskeleton1；
(7) the actual corners angle value of ectoskeleton, the ginseng of the ectoskeleton obtained according to step 6 are obtained by joint rotary encoder (2)
Examine displacement α1, by the actual corners angle value of ectoskeleton and the reference displacement α of ectoskeleton1As the defeated of lower floor ARC Position Tracking Control devices
Enter amount, design lower floor ARC Position Tracking Control devices, lower floor ARC Position Tracking Control devices are output as simple joint assistance exoskeleton
Control voltage u；
(8) the control voltage u for being obtained step 7 by electrohydraulic servo valve amplification board is converted into the control electric current of electrohydraulic servo valve；
(9) spool displacement of electrohydraulic servo valve is controlled by control electric current to control the pressure at hydraulic cylinder two ends, promotes hydraulic cylinder
Motion, that realizes simple joint assistance exoskeleton follows motion.
2. the side that a kind of simple joint assistance exoskeleton ADAPTIVE ROBUST cascade power of depression of order according to claim 1 is controlled
Method, it is characterised in that the step 4 is concretely comprised the following steps：
The physical model of simple joint assistance exoskeleton is set up, wherein the physical model includes：
Man-machine interface model：
Hydraulic cylinder load movement model：
The cavity pressure model of hydraulic cylinder two：
The discharge model of electrohydraulic servo valve：
Wherein, ThmIt is man-machine active force, K is the rigidity of man-machine interface, qhIt is respectively the displacement of people and the displacement of ectoskeleton with q,
It is the first derivative of the displacement of ectoskeleton,It is the second dervative of the displacement of ectoskeleton；It is the concentration mould in man-machine interface
Type is uncertain and disturbs, and J is the rotary inertia of simple joint assistance exoskeleton, and h is the arm of force of hydraulic cylinder power output, P1And P2Point
It is not the pressure in the chamber of hydraulic cylinder two, A1And A2It is the area in two chambers, m is load quality, and g is acceleration of gravity, lcIt is joint to power
The distance of sensing, B is damping viscous friction coefficient, and A is static friction coefficient,It is for being fitted sign function's
Smooth function, It is lumped model uncertainty and the interference in simple joint assistance exoskeleton,
V1And V2It is respectively the volume in the chamber of hydraulic cylinder two, βeIt is the bulk modulus of fluid, Q1And Q2It is respectively oil-feed flow and fuel-displaced
Flow,It is respectively lumped model uncertainty and interference on inlet and outlet oil circuit, xvIt is spool displacement,
kq1,kq2The flow gain coefficient of mouth, P are into and out respectivelysIt is the charge oil pressure of pump, PrIt is the pressure on oil-out, u is electro-hydraulic watching
Take the control voltage of valve；
Because man-machine interface model is an equation for static state, so Thm、qhRelation and q between is static, in order to can be with
The man-machine active force T of dynamic controlhm, with the integration of man-machine active forceTo replace Thm；
The step of physical model is converted into state equation is as follows：
Writ state variableWherein,x2=q,x4=P1,x5=P2If,
Lumped model uncertainty is：
Lumped model uncertainty is divided into constant and time-varying function two parts, i.e.,I=1,3,4, wherein,
ΔinIt is constant, ΔiIt is time-varying function；IfWherein, θ1=
K,θ2=Δ1n,θ7=Δ3n,θ8=βe,θ9=Δ4n, then simple joint power-assisted dermoskeleton
The state equation of the physical model of bone is：
Wherein：
3. the side that a kind of simple joint assistance exoskeleton ADAPTIVE ROBUST cascade power of depression of order according to claim 1 is controlled
Method, it is characterised in that the step of depression of order is processed in the step 5 is as follows：
The formula (7) and formula (8) that will be obtained in step 4 merge, and obtain the second-order equation of the cavity pressure model of hydraulic cylinder two：
Wherein,WillIt is divided into low frequency component θeWith high frequency time-varying component Δe, i.e.,
The intrinsic frequency of this second-order system is：
According to practical operation situation, the intrinsic frequency w of this second-order systemnBetween 5 to 10 hertz, and simple joint exoskeleton system
Closed loop frequency range between 1 to 2 hertz, therefore the dynamics of the cavity pressure model of hydraulic cylinder two can be ignored, so that the chamber of hydraulic cylinder two
The second-order equation of pressure model is changed into following form：
Simultaneous formula (5), formula (6) and formula (9) formula, the state equation for obtaining the reduced-order model of simple joint assistance exoskeleton is：
Wherein,
4. the side that a kind of simple joint assistance exoskeleton ADAPTIVE ROBUST cascade power of depression of order according to claim 1 is controlled
Method, it is characterised in that the control method of the step 6 ARC controllers at the middle and upper levels is as follows：
The formula (10) obtained according to step 5, designs upper strata ARC controllers；If z1=x1-x1d, wherein x1dIt is desired man-machine work
Integration firmly, value is 0；If α1It is the reference displacement of ectoskeleton, the reference displacement α of the ectoskeleton1Effect be to make man-machine work
Tracking error z firmly1Quickly it is intended to zero, α1Determination method it is as follows：
If β=[θ1 θ2]T, to tracking error z1Differential is carried out, is obtained：
Make α1=α1a+α1s1+α1s2, wherein,K1s1=g1||Γ1φ1||2
+K1, K1,g1It is any nonnegative number；It is to parameter θ1, θ2Estimate, according to actual physics model, obtain the two
The scope of estimate is：WhereinIt is to parameter θ1EstimateMinimum value,It is to ginseng
Number θ1EstimateMaximum,It is to parameter θ2EstimateMinimum value,It is to parameter θ2EstimateMaximum；And the two estimatesValue in the ARC controllers of upper strata by adaptive rateObtain,
Wherein,τ1=w1φ1z1, φ1=[- α1a 1]T, w1It is weight coefficient, its value is any
Nonnegative number；γ1And γ2It is any nonnegative number；Adaptive rateMapping function be
WhereiniIt is independent variable；
IfAccording to ARC control algolithms, α1s2Following two conditions must are fulfilled for, i.e.,：
Wherein,ε1It is threshold value, its value is any nonnegative number.
5. the side that a kind of simple joint assistance exoskeleton ADAPTIVE ROBUST cascade power of depression of order according to claim 1 is controlled
Method, it is characterised in that the step of lower floor ARC Position Tracking Control devices are designed in the step 7 is as follows：
According to (11) that step 5 is obtained, if tracking error z2=x2-x2d, wherein x2d=α1；
To tracking error z2Differential is carried out to obtain：Wherein,
QLFor virtual controlling is input into；
According to ARC control algolithms, virtual controlling is made to be input into QL=αL, αL=αLa+αLs1+αLs2, wherein,k2,g2It is any non-negative
Number；It is to parameter θeEstimate, according to actual physics model, the scope that can obtain this estimate is：WhereinIt is to parameter θeEstimateMinimum value,It is to parameter θeEstimateMost
Big value；And this estimateValue in lower floor's ARC controllers by adaptive rateObtain, wherein, Γ2=
γ3, τ2=w2φ2z2,w2It is weight coefficient, its value is any nonnegative number；γ3Value be any nonnegative number, from
Adaptation rateMapping function be
WhereiniIt is independent variable；
IfFrom ARC control algolithms, αLs2Following two conditions must are fulfilled for, i.e.,：
Wherein,ε2It is threshold value, its value is any nonnegative number；
Q is input into according to virtual controllingL, the control voltage u for obtaining electrohydraulic servo valve is：
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