CN102440854A - Human-machine coupling overload carrying system device and control method thereof - Google Patents

Abstract

The invention relates to a human-machine coupling overload carrying system device and a control method thereof, which is characterized in that pressure sensors and angle sensors are mounted under the feet of a human body and at the knee joints of rigid limbs of an overload carrying system respectively, so as to perceive movement information and force information of the human body and the rigid limbs of the overload carrying system real-timely, and then real-time and accurate information can be provided for human-machine coupling control; through adoption of a human-machine coupling smart control method, different control algorithms are adopted according to different gaits, position feedback control and force feedback control are performed to an executive device, and the movement information and the force information of the human body, which are perceived by the sensors, are transformed into control parameters through filtering and fusion, so that a control actuator can output a proper force real-timely in a follow-up manner, tracks the human body movement and provides an efficient and proper assisting force for the human body movement real-timely; through adoption of a gas energy storage airtight cavity actuator device, the assisting effect of hydraulic cylinder return movement can be achieved, so that flexibility and comfortableness of human-machine coupling movement are improved.

Description

A kind of man-machine coupling heavy duty portable system and device and control method thereof

Technical field

The present invention relates to a kind of portable system and device and control method thereof, particularly about a kind of man-machine coupling heavy duty portable system and device and control method thereof.

Background technology

In trekking in way far away, equipment that people self need carry and goods and materials are more and more, can influence people's gait of march, travel distance and maneuverability like this, usually make people's neurolysis or bodily injury.When adopting traditional Robot Control Technology to carry out human body portable load exercise power-assisted; The portable force aid system is difficult to satisfy real-time, accuracy and the man-machine coordination campaign compliance of controlling under the human body loading condition; Particularly under fully loaded transportation condition; When walking, run, striding strenuous exercises such as jumping fast when human body, device that these are traditional and control method thereof can cause certain obstruction to people's motion, influence the motion concertedness.

Summary of the invention

To the problems referred to above, the purpose of this invention is to provide a kind of man-machine coupling heavy duty portable system and device and control method thereof that can promote real-time, accuracy and the man-machine coordination campaign compliance of heavily loaded portable system senses control.

Realize above-mentioned purpose; The present invention takes following technical scheme: the device of the heavily loaded portable of a kind of man-machine coupling system, and it comprises corresponding coupled firm limbs with the human body lower extremity, just limbs comprise two groups of shank parts and thigh part; Be connected two knee joints and executor between shank part and the thigh part; Be connected two sensing boots of shank part bottom, be arranged on two thigh part tops and be positioned at the back of the body frame of human body back, and control system and power supply; It is characterized in that: each executor comprises a hydraulic cylinder, and hydraulic cylinder is connected the middle part of thigh part, and connects servo valve, electro-hydraulic reversing valve, fuel tank and oil pump successively through oil pipe, and fuel tank and oil pump are arranged on back of the body frame bottom; The piston rod of hydraulic cylinder connects the middle part of shank part, and the inner of piston rod is provided with the flange that a circle is separated into hydraulic cylinder in one hydraulic cavities and a gas accumulation of energy chamber; Control system comprises two groups of plantar pressure sensor that are arranged in the two sensing boots; Be arranged on the two knee joint angle pick offs at two knee joint places, be arranged on the gait judge module in the control integrated circuit board on the back of the body frame, actuator position computing module, controller module, amplifier module, hydraulic regulation module, executor's equivalent modules, support heavy burden compensating module and two adders; The gait judge module compares the plantar pressure sensor signal that obtains and the given threshold value that presets in it and judges; Piston rod position Y that the actuator position computing module presets the knee joint angle changing value θ of the knee joint pick off that obtains output and Qi Nei and the relational expression of knee joint angle changing value θ, calculating piston rod position Y; Controller module is through the mathematical model expression formula G of the PID controller that presets in it _PID, convert its deviate that obtains into voltage control signal U _Ctrl, and output it to amplifier module; The relational expression K of amplifier module through presetting in it _aVoltage control signal U with input _CtrlConvert servo current amount I into, and output it to the hydraulic regulation module; The relational expression G of hydraulic regulation module through presetting in it _SvThe servo current amount I of input is converted into the aperture size x of servo valve valve _v, and output it to executor's equivalent modules, the equivalent mathematical model expression formula G of executor's equivalent modules through presetting in it _Eq, with the aperture size x of servo valve valve _vWith support the support heavy burden balancing force F that the heavy burden compensating module feeds back _Comp, convert the position Y that piston rod should be exported into _Need, support the equivalent mathematical model G that the heavy burden compensating module presets through its inside _CompThe position Y that piston rod should be exported _NeedConvert the support heavy burden balancing force F that piston rod should be exported into _Comp, and it is fed back to executor's equivalent modules again.

One group of said plantar pressure sensor is two, is placed on the position that contacts with rear heel with the human body forefoot respectively, the plantar pressure sensor output voltage signal.

The mathematical model expression formula G of the PID controller that presets in the said controller module _PIDFor:

G _PID＝K _P+T _Ds+T _I/s

In the formula: K _PBe proportionality coefficient, T _DBe differential coefficient, T _IBe integral coefficient.

The mathematical model expression formula G of the PID controller that presets in the said controller module _PIDFor:

G _PID＝K _P+T _Ds+T _I/s

In the formula: K _PBe proportionality coefficient, T _DBe differential coefficient, T _IBe integral coefficient.

The relational expression of piston rod position Y that presets in the said actuator position computing module and knee joint angle changing value θ is:

$Y=\sqrt{{\mathrm{Dist}1}^2+{\mathrm{<figure-callout\; id="2"\; label="Dist"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">Dist</figure-callout>}2}^2-2\&times;\mathrm{Dist}1\&times;\mathrm{<figure-callout\; id="2"\; label="Dist"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">Dist</figure-callout>}2\&times;\cos ({\mathrm{\&theta;}}_{\mathrm{init}}-\mathrm{\&theta;})}$

In the formula: θ _InitBe static kneed initial angle value when upright of human body, Dist1 is the distance of hydraulic cylinder between the junction point on the thigh part to knee joint; Dist2 is the distance of hydraulic cylinder between the junction point on the shank part to knee joint;

The relational expression K that presets in the amplifier module _aFor:

$K_a=\frac{I}{U_{\mathrm{ctrl}}}$

In the formula: K _aIt is a gain amplifier constant;

The relational expression G that presets in the hydraulic regulation module _SvFor:

$G_{\mathrm{sv}}=\frac{x_v}{I}=\frac{{\mathrm{<figure-callout\; id="2"\; label="K\; sv\; s"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">K</figure-callout>}}_{\mathrm{sv}}}{\frac{s^{}}{}}$

In the formula: ω _SvBe the natural frequency of servo valve, ξ _SvBe the damping ratio of servo valve, K _SvIt is the gain constant of servo valve;

The equivalent mathematical model G that presets in executor's equivalent modules _EqFor:

$G_{\mathrm{eq}}=\frac{\frac{K_q}{A_p}}{\frac{V_{\mathrm{<figure-callout\; id="4"\; label="t\; m\; t"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">t</figure-callout>}}{m}_t{}_{}}{{4\mathrm{\&beta;}}_e{A}_p^2}{\mathrm{<figure-callout\; id="3"\; label="s"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">s</figure-callout>}}^3+(\frac{m_t{K}_{\mathrm{ce}}}{A_{\mathrm{<figure-callout\; id="2"\; label="p"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">p</figure-callout>}}^2}+\frac{B_{\mathrm{<figure-callout\; id="4"\; label="e\; V\; t"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">e</figure-callout>}}{V}_t{}_{}}{{4\mathrm{\&beta;}}_e{A}_p^2}){\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">s</figure-callout>}}^2+(1+\frac{B_e{K}_{\mathrm{ce}}}{A_{\mathrm{<figure-callout\; id="2"\; label="p"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">p</figure-callout>}}^2}+\frac{{\mathrm{KK}}_{\mathrm{ce}}}{A_p^2})s+\frac{{\mathrm{KK}}_{\mathrm{ce}}}{A_{\mathrm{<figure-callout\; id="2"\; label="p"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">p</figure-callout>}}^2}}$

In the formula: m _tBe the quality of the shank part of firm limbs, B _eBe the damping of firm limbs, β _eBe the hydraulic oil elastic modelling quantity in the hydraulic cylinder, K _CeBe the total flow-pressure coefficient of servo valve, K is the spring rate of firm limbs, K _qBe the flow gain of servo valve, A _pBe the effective area of piston rod, V _tIt is the total measurement (volume) of hydraulic cylinder;

Support the equivalent mathematical model G that presets in the heavy burden compensating module _CompFor:

G _comp＝G _YtoFG _FtoFK

Wherein,

$G_{\mathrm{FtoFK}}=\frac{1}{K_q{A}_p}(K_{\mathrm{ce}}+\frac{{\mathrm{<figure-callout\; id="4"\; label="V\; t"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">V</figure-callout>}}_t}{{4\mathrm{\&beta;}}_e}s)$

$G_{\mathrm{YtoF}}=\frac{F_{\mathrm{comp}}}{Y_{\mathrm{need}}}.$

According to the gait that said gait judge module obtains, in following scope, choose G _YtoFValue:

0≤G _YtoF≤1866

Wherein, when being in single lower limb walking swing, G _YtoF=0;

The control method of the above-mentioned heavily loaded portable of a kind of man-machine coupling system; May further comprise the steps: 1) on the thigh part of the firm limbs of man-machine coupling heavy duty portable system, a hydraulic cylinder is set; The piston rod of hydraulic cylinder is connected on the shank part of firm limbs, a circle flange is set in the inner of piston rod hydraulic cylinder is separated into a hydraulic cavities and a gas accumulation of energy chamber; Simultaneously; Plantar pressure sensor and the knee joint angle pick off corresponding with human body are set in the control system of firm limbs, and are arranged on gait judge module, actuator position computing module, controller module, amplifier module, hydraulic regulation module, executor's equivalent modules, support heavy burden compensating module and two adders on the control integrated circuit board; 2) plantar pressure sensor is gathered plantar pressure information, knee joint angle sensor acquisition knee joint rotation angle information; 3) the gait judge module compares the plantar pressure sensor signal that obtains and the given threshold value that presets in it and judges, and according to judged result, selects one of following three kinds of control instructions to carry out:

1. when being in the walking of single lower limb and supporting, then executing location closed loop control and power closed loop control instruction, entering step 4);

2. when being in the both legs stationary support, then executing location closed loop control instruction gets into step 5);

3. when being in single lower limb walking swing, then carry out gradual change open loop control instruction, get into step 6);

4) the actuator position computing module is according to the knee joint angle expectation changing value θ of the knee joint angle pick off output that obtains _ExpRelational expression with piston rod position Y that presets in it and knee joint angle changing value θ calculates piston rod desired locations Y _Exp, and export to adder; The actuator position computing module is according to the knee joint angle actual change value θ of the knee joint angle pick off output that obtains _SensorRelational expression with piston rod position Y that presets in it and knee joint angle changing value θ calculates piston rod physical location Y _Act, and export to adder; Adder is with the desired locations Y of the piston rod that obtains _ExpWith physical location Y _ActSubtract each other, and the deviate that calculates is exported to controller module; Another adder is subtracted each other plantar pressure sensor signal that obtains and the vola expected signal value that is preset in the control system, and the deviate that calculates is exported to controller module; Controller module is according to the desired locations Y of the piston rod that obtains _ExpWith physical location Y _ActDeviate, and the mathematical model expression formula G of the deviation of plantar pressure sensor signal and vola expected signal value and the PID controller that presets in it _PID, calculate voltage control signal U _Ctrl, and output it to amplifier module, get into step 7); 5) with piston rod desired locations Y _ExpMaximum Y for people's executor's piston rod outgoing position when the both legs stationary support state is set _MaxAnd export to adder; The actuator position computing module is according to the knee joint angle actual change value θ of the knee joint angle pick off output that obtains _SensorRelational expression with piston rod position Y that presets in it and knee joint angle changing value θ calculates piston rod physical location Y _Act, and export to adder; Adder is with the desired locations Y of the piston rod that obtains _ExpWith physical location Y _ActSubtract each other, and the deviate that calculates is exported to controller module; Controller module is according to the desired locations Y of the piston rod that obtains _ExpWith physical location Y _ActThe mathematical model expression formula G of the PID controller that presets of deviate and Qi Nei _PID, calculate voltage control signal U _Ctrl, and output it to amplifier module, get into step 7); 6) the actuator position computing module is according to the knee joint angle expectation changing value θ of the knee joint angle pick off output that obtains _ExpRelational expression with piston rod position Y that presets in it and knee joint angle changing value θ calculates piston rod desired locations Y _Exp, and export to adder; Adder is with the desired locations Y of the piston rod that obtains _ExpDirectly export to controller module; Controller module is according to the desired locations Y of the piston rod that obtains _ExpAnd the mathematical model expression formula G of the PID controller that presets in it _PID, calculate voltage control signal U _Ctrl, and output it to amplifier module; 7) the relational expression K of amplifier module through presetting in it _aWith the voltage control signal U that obtains _CtrlConvert servo current amount I into, and output it to the hydraulic regulation module; 8) the relational expression G of hydraulic regulation module through presetting in it _SvThe servo current amount I that obtains is converted into the aperture size x of servo valve valve _v, and output it to executor's equivalent modules; 9) the equivalent mathematical model expression formula G of executor's equivalent modules through presetting in it _Eq, with the aperture size x of the servo valve valve that obtains _vWith support the support heavy burden balancing force F that the heavy burden compensating module feeds back _CompConvert the position Y that piston rod should be exported into _Need, and output it to support heavy burden compensating module; 10) support the equivalent mathematical model G that the heavy burden compensating module presets through its inside _CompThe position Y that piston rod should be exported _NeedConvert the support heavy burden balancing force F that piston rod should be exported into _Comp, and it is fed back to executor's equivalent modules again, and return step 2), send the order fulfillment circulation until control system.

In the said step 4), be preset at vola desired signal and preassigned vola expectation support force F in the control system _ExpCorrespondence, said vola expectation support force F _ExpFor bearing a heavy burden behind the deduction body weight and heavily loaded portable system and device deadweight weight sum.

The present invention is owing to take above technical scheme; It has the following advantages: 1, the present invention since on heavily loaded portable system sensing boots and just the knee joint place of limbs lay pressure transducer and angular transducer respectively; The real-time perception human body plantar pressure information and the just knee joint angle information of limbs, thereby for man-machine Coupling Control system provides in real time, information accurately.2, the present invention is owing to adopt man-machine coupling intelligence control method; Adopt the Different control algorithm according to different gaits; Actuating unit is carried out position feedback control and force feedback control, thereby can the real-time tracking human motion also efficient suitable power-assisted be provided for human motion.3, the present invention has realized the power-assisted effect of hydraulic cylinder executor quick return, thereby has promoted the compliance and the comfortableness of man-machine coupled motions owing to adopt the hydraulic cylinder actuator apparatus that has gas accumulation of energy chamber.

Description of drawings

Fig. 1 is the present invention's heavy duty portable system schematic

Fig. 2 is executor's sketch map of the present invention

Fig. 3 is a control system operation principle sketch map of the present invention

Fig. 4 is that the present invention controls the scheme sketch map

Fig. 5 is that plantar pressure sensor of the present invention is provided with sketch map

Fig. 6 is that the angle that knee joint pick off of the present invention obtains changes sketch map

The specific embodiment

Below in conjunction with accompanying drawing embodiment of the present invention is carried out detailed description.

As shown in Figure 1; The present invention is identical with prior art, comprises corresponding coupled firm limbs with the human body lower extremity, and these firm limbs comprise two groups of shank parts 1 and thigh part 2; Be connected two knee joints 3 and executor 4 between shank part 1 and the thigh part 2; Be connected two sensing boots 5 of shank part 1 bottom, be arranged on two thigh part 2 tops and be positioned at the back of the body frame 6 of human body back, and control system 7 and power supply 8.

As shown in Figure 2; Executor 4 of the present invention comprises a hydraulic cylinder 41; One end of hydraulic cylinder 41 is connected the middle part of thigh part 2; And this end is provided with an ozzle 42, and ozzle 42 connects a servo valve 43, an electro-hydraulic reversing valve 44, a fuel tank and oil pump 45 through oil pipe, and fuel tank and oil pump 45 are arranged on back of the body frame 6 bottoms.The other end of hydraulic cylinder 41 is inserted with a piston rod 46, and the inner of piston rod 46 is provided with a circle flange 47, and hydraulic cylinder 41 is separated into a hydraulic cavities 48 and a gas accumulation of energy chamber 49, and the outer end of piston rod 46 is connected the middle part of shank part 1.

Like Fig. 3, shown in Figure 4; Control system 7 of the present invention comprises four plantar pressure sensor 71; Two knee joint angle pick offs 72; Be arranged on the gait judge module 73 of control in the integrated circuit board, actuator position computing module 74, controller module 75, amplifier module 76, hydraulic regulation module 77, executor's equivalent modules 78, one support heavy burden compensating module 79 and two adders, the control integrated circuit board is arranged on back of the body frame 6 bottoms.

As shown in Figure 5, four plantar pressure sensor 71 in the control system 7 are divided into two groups, and 71, two plantar pressure sensor 71 of every group of two plantar pressure sensor are placed on the position that contacts with rear heel with the human body forefoot in the sensing boots 5 respectively.Four plantar pressure sensor 71 are sent the magnitude of voltage that records into gait judge module 73, preset given voltage threshold in the gait judge module 73, and this voltage threshold can be set according to the sensitivity and the experiment experience of pick off.Judge the current gait situation of human bodies through gait judge module 73:, show " both legs stationary support " state that is in when the output valve sum of each group in two groups of plantar pressure sensor 71 during all greater than given voltage threshold; When only wherein the output valve sum of one group of pressure transducer is greater than given voltage threshold, show that this lower limb is in " single lower limb walking is supported " state; And another lower limb is in " single lower limb walking swing " state (as shown in Figure 4).

Like Fig. 1, shown in Figure 3, two knee joint angle pick offs 72 of control system 7 are arranged on two knee joint 3 places, and two knee joint pick offs 72 are exported to actuator position computing module 74 with the knee joint angle changing value θ that records.Preset the relational expression of a piston rod 46 current location Y and knee joint angle changing value θ in the actuator position computing module 74, this relational expression is following:

$Y=\sqrt{{\mathrm{Dist}1}^2+{\mathrm{<figure-callout\; id="2"\; label="Dist"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">Dist</figure-callout>}2}^2-2\&times;\mathrm{Dist}1\&times;\mathrm{<figure-callout\; id="2"\; label="Dist"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">Dist</figure-callout>}2\&times;\cos ({\mathrm{\&theta;}}_{\mathrm{init}}-\mathrm{\&theta;})}$

In the formula: θ _InitBe the static initial angle value of knee joint 3 when upright of human body, Dist1 is the distance of hydraulic cylinder 21 between the junction point on the thigh part 2 to knee joint 3; Dist2 is the distance (as shown in Figure 6) of hydraulic cylinder 21 between the junction point on the shank part 1 to knee joint 3.When human body was in upright situation, knee joint angle pick off 72 output angle changing value θ were zero; When shank part 1 during to rear curved, angle changing value θ be made as on the occasion of; When shank part 1 stretched forward, angle changing value θ was made as negative value.Actuator position computing module 74 can calculate piston rod position Y according to known knee joint angle changing value θ, otherwise, also can extrapolate knee joint angle changing value θ according to known piston rod position Y.

As shown in Figure 3, preset the mathematical model expression formula G of a second order PID controller in the controller module 75 of control system 7 _PID:

G _PID＝K _P+T _Ds+T _I/s

Controller module 75 can be according to the different of gait and different to the requirement (like stability, tracking accuracy and rapidity etc.) of systematic function, to the proportionality coefficient K in the following formula _P, differential coefficient T _DWith integral coefficient T _IDeng the different value of control selection of parameter.The function of controller module 75 is that the departure that obtains is converted into a voltage control signal U _Ctrl, and export to amplifier module 76.Also can preset the controller mathematical model of other form in the controller module 75.

As shown in Figure 3, preset the voltage control signal U that a controller module 75 provides in the amplifier module 76 of control system 7 _CtrlRelational expression K with servo current amount I _a:

$K_a=\frac{I}{U_{\mathrm{ctrl}}}$

K _aBe a gain amplifier constant, its size can be set according to system requirements.The function of amplifier module 76 is voltage control signal U that controller module 75 is provided _CtrlConvert servo current amount I into, and servo current amount I is exported to hydraulic regulation module 77.

As shown in Figure 3, preset the aperture size x of a servo current amount I and servo valve 43 valves in the hydraulic regulation module 77 of control system 7 _vRelational expression G _Sv:

$G_{\mathrm{sv}}=\frac{x_v}{I}=\frac{K_{\mathrm{sv}}}{\frac{s^2}{{{\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="2"\; label="sv"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">sv</figure-callout>}}}^2}+\frac{{2\mathrm{\&xi;}}_{\mathrm{sv}}}{{\mathrm{\&omega;}}_{\mathrm{sv}}}s+1}$

In the formula: ω _SvBe the natural frequency of servo valve 43, ξ _SvBe the damping ratio of servo valve 43, K _SvBe the gain constant of servo valve 43, K _SvValue by the decision of the performance parameter of servo valve 43.The function of hydraulic regulation module 77 is the aperture size x that the servo current amount I that amplifier module 76 provides converted into servo valve 43 valves _vThereby, regulate the flow that gets into hydraulic oil in the hydraulic cavities 48.

Piston rod 46 among the executor 4 of the present invention overcomes the heavy burden restraining forces under the effect of hydraulic oil exactly and moves to the position that arrive in getting into hydraulic cavities 48, thereby the real-time tracking human motion also provides efficient suitable power-assisted for human motion.With reference to the technical data of relevant position feedback control system principle in " hydraulic control system ", executor 4 of the present invention adopts following mathematical model formulate:

$Y_{\mathrm{need}}=\frac{\frac{K_q}{A_p}{x}_v-\frac{1}{A_p^2}(K_{\mathrm{ce}}+\frac{{\mathrm{<figure-callout\; id="4"\; label="V\; t"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">V</figure-callout>}}_t}{{4\mathrm{\&beta;}}_e}s)F_{\mathrm{comp}}}{\frac{V_{\mathrm{<figure-callout\; id="4"\; label="t\; m\; t"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">t</figure-callout>}}{m}_t{}_{}}{{4\mathrm{\&beta;}}_e{A}_p^2}{\mathrm{<figure-callout\; id="3"\; label="s"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">s</figure-callout>}}^3+(\frac{m_t{K}_{\mathrm{<figure-callout\; id="2"\; label="ce\; A\; p"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">ce</figure-callout>}}}{A_p^{}}+\frac{B_{\mathrm{<figure-callout\; id="4"\; label="e\; V\; t"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">e</figure-callout>}}{V}_t{}_{}}{{4\mathrm{\&beta;}}_e{A}_p^2}){\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">s</figure-callout>}}^2+(1+\frac{B_e{K}_{\mathrm{<figure-callout\; id="2"\; label="ce\; A\; p"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">ce</figure-callout>}}}{A_p^{}}+\frac{{\mathrm{KK}}_{\mathrm{ce}}}{A_p^2})s+\frac{{\mathrm{KK}}_{\mathrm{<figure-callout\; id="2"\; label="ce\; A\; p"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">ce</figure-callout>}}}{A_p^{}}}$

In the formula: F _CompBe to support heavy burden balancing force, Y _NeedBe the position that piston rod 46 should be exported, m _tBe the quality of the shank part 1 of firm limbs, B _eBe the damping of firm limbs, β _eBe the hydraulic oil elastic modelling quantity in the hydraulic cylinder 41, K _CeBe the total flow-pressure coefficient of servo valve 43, K is the spring rate of firm limbs, K _qBe the flow gain of servo valve 43, A _pBe the effective area of piston rod 46, V _tIt is the total measurement (volume) of hydraulic cylinder 41.Following formula also can equivalence be:

Y _need＝(x _v-Y _needG _YtoFG _FtoFK)×G _eq

Wherein,

$G_{\mathrm{eq}}=\frac{\frac{K_q}{A_p}}{\frac{V_{\mathrm{<figure-callout\; id="4"\; label="t\; m\; t"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">t</figure-callout>}}{m}_t{}_{}}{{4\mathrm{\&beta;}}_e{A}_p^2}{\mathrm{<figure-callout\; id="3"\; label="s"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">s</figure-callout>}}^3+(\frac{m_t{K}_{\mathrm{<figure-callout\; id="2"\; label="ce\; A\; p"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">ce</figure-callout>}}}{A_p^{}}+\frac{B_{\mathrm{<figure-callout\; id="4"\; label="e\; V\; t"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">e</figure-callout>}}{V}_t{}_{}}{{4\mathrm{\&beta;}}_e{A}_p^2}){\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">s</figure-callout>}}^2+(1+\frac{B_e{K}_{\mathrm{<figure-callout\; id="2"\; label="ce\; A\; p"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">ce</figure-callout>}}}{A_p^{}}+\frac{{\mathrm{KK}}_{\mathrm{ce}}}{A_p^2})s+\frac{{\mathrm{KK}}_{\mathrm{<figure-callout\; id="2"\; label="ce\; A\; p"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">ce</figure-callout>}}}{A_p^{}}}$

$G_{\mathrm{FtoFK}}=\frac{1}{K_q{A}_p}(K_{\mathrm{ce}}+\frac{{\mathrm{<figure-callout\; id="4"\; label="V\; t"\; filenames="HDA0000088922110000011.png"\; state="\{\{state\}\}">V</figure-callout>}}_t}{{4\mathrm{\&beta;}}_e}s)$

$G_{\mathrm{YtoF}}=\frac{F_{\mathrm{comp}}}{Y_{\mathrm{need}}}$

As shown in Figure 3, preset above-mentioned equivalent mathematical model G in the executor's equivalent modules 78 in the control system 7 _EqThe function of executor's equivalent modules 78 is aperture size x of servo valve 43 valves that hydraulic regulation module 77 is provided _vWith support the support heavy burden balancing force F that heavy burden compensating module 79 provides _Comp, convert the position Y that piston rod 46 should be exported among the executor 4 into _NeedThereby the piston rod 46 among the control executor 4 moves to the position that arrive.

As shown in Figure 3, preset an equivalent mathematical model G in the support heavy burden compensating module 79 in the control system 7 _Comp:

G _comp＝G _YtoFG _FtoFK

In the following formula, according to different gaits, G _YtoFValue also different, obtain G according to experiment test _YtoFSpan be generally:

0≤G _YtoF≤1866

When being in single lower limb walking swing, G _YtoF=0.

The function that supports heavy burden compensating module 79 is the position Y that should export according to the current piston rod that obtains 46 _NeedCalculate the support heavy burden balancing force F that current piston rod 46 should be exported _Comp, and output feeds back to executor's equivalent modules 78.

The open-loop transfer function G of The whole control system 7 _OpenBe:

$G_{\mathrm{open}}=\frac{G_{\mathrm{PID}}{K}_a{G}_{\mathrm{sv}}{G}_{\mathrm{eq}}}{(1+G_{\mathrm{hyd}\_\mathrm{eq}}{G}_{\mathrm{YtoF}}{G}_{\mathrm{FtoFK}})}$

As shown in Figure 4; Power supply 8 of the present invention is arranged on back of the body frame 6 bottoms; Power supply 8 can adopt the lithium battery device, is power device power supplies such as plantar pressure sensor 71, knee joint angle pick off 72, control system 7 and servo valve 43 and oil pump by lithium battery.

As shown in Figure 3, the operation principle of control system 7 is following:

During human motion, knee joint produces the anglec of rotation θ of expectation _Exp, this angle records through knee joint angle pick off 72, and sends the desired locations Y that actuator position computing module 74 is calculated piston rod 46 among the executor 4 to _ExpKnee joint angle pick off 72 is measured knee joint 3 anglec of rotation θ of current reality simultaneously _Sensor, calculate the physical location Y of current piston rod 46 through actuator position computing module 74 _ActThe desired locations Y of piston rod 46 _ExpWith physical location Y _ActAll be input to adder, through subtracting each other the deviate that obtains input signal, controller module 75 output correspondent voltage control signal U as controller module 75 _Ctrl, voltage control signal U _CtrlConvert servo current signal I into through amplifier module 76, servo current signal I inputs to hydraulic regulation module 77, calculates the aperture size x of servo valve 43 valves _vThereby, regulate the oil stream amount size that flows in the hydraulic cavities 48.In addition, gait judge module 73 is judged current gait according to the magnitude of voltage of plantar pressure sensor 71 outputs.Support heavy burden compensating module 79 provides the output of current executed device 4 piston rods 46 needs according to current gait support heavy burden balancing force F _Comp, support heavy burden balancing force F _CompAperture size x with the hydraulic valve valve _vInput to executor's equivalent modules 78 together, calculate the position Y that piston rod 46 should be exported by it _NeedLike this through above-mentioned close-loop feedback control to piston rod 46 positions, the angle of the desired variation of knee joint is consistent in the time of can making the anglec of rotation and the motion of people's lower limb of shank part 1 relative thigh part 2, reaches the purpose of man-machine harmony campaign.Be in " single lower limb walking is supported " state at people's lower limb, the magnitude of voltage of plantar pressure sensor 71 outputs is input in another adder, with the desired voltage values U that is preset in the control system 7 _ExpSubtract each other, the deviate that obtains also is input in the controller module 75, as the input signal of force feedback control.Wherein, desired voltage values U _ExpBe preassigned vola expectation support force F _ExpPairing magnitude of voltage, vola expectation support force F _ExpBear a heavy burden U and heavily loaded portable system and device deadweight weight sum after can being set to deduct body weight _ExpWith F _ExpCorresponding relation confirm by the transformational relation between plantar pressure sensor 71 input and output, different plantar pressure sensor, its transformational relation is also different.Through above-mentioned power close-loop feedback control, piston rod 46 is exerted oneself fast at single lower limb walking driving phase like this, the perturbed force that compensation is born a heavy burden and produced makes the people that the labour-saving sensation arranged.

Executor 4 operation principle is following:

When control system 7 of the present invention is sent command signal; Executor 4 electro-hydraulic reversing valve 44 forwards are connected; Hydraulic oil gets in the hydraulic cavities 48 through ozzle 42; Under the effect of hydraulic oil, piston rod 46 moves so that the shank part 1 of firm limbs moves, and airtight air is compressed in the gas accumulation of energy chamber 49 simultaneously; Send signal when control system 7, when making 44 times metas of electro-hydraulic reversing valve, hydraulic oil can not get into hydraulic cavities 48, and the fluid in the hydraulic cavities 48 can not return fuel tank, and executor 4 becomes rigid structural member, supports the load of bearing a heavy burden; When control system 7 is sent signal; Electro-hydraulic reversing valve 44 is oppositely connected; Hydraulic cavities 48 is connected with fuel tank, quick return under the combined effect of shank self moment of torsion when compressed air and the human body natural of piston rod 46 gas accumulation of energy chamber 49 in walks, and hydraulic cavities 48 interior fluid are pushed back fuel tank.

Control method of the present invention may further comprise the steps:

1) plantar pressure sensor is gathered plantar pressure information, knee joint angle sensor acquisition knee joint rotation angle information;

2) the gait judge module compares the plantar pressure sensor signal that obtains and the given threshold value that presets in it and judges, and according to judged result, selects one of following three kinds of control instructions to carry out:

1. when being in the walking of single lower limb and supporting, then executing location closed loop control and power closed loop control instruction, entering step 3);

2. when being in the both legs stationary support, then executing location closed loop control instruction gets into step 4);

3. when being in single lower limb walking swing, then carry out gradual change open loop control instruction, get into step 5);

3) the actuator position computing module is according to the knee joint angle expectation changing value θ of the knee joint angle pick off output that obtains _ExpRelational expression with piston rod position Y that presets in it and knee joint angle changing value θ calculates piston rod desired locations Y _Exp, and export to adder;

The actuator position computing module is according to the knee joint angle actual change value θ of the knee joint angle pick off output that obtains _SensorRelational expression with piston rod position Y that presets in it and knee joint angle changing value θ calculates piston rod physical location Y _Act, and export to adder;

Adder is with the desired locations Y of the piston rod that obtains _ExpWith physical location Y _ActSubtract each other, and the deviate that calculates is exported to controller module;

Another adder is subtracted each other plantar pressure sensor signal that obtains and the vola expected signal value that is preset in the control system, and the deviate that calculates is exported to controller module;

Controller module is according to the desired locations Y of the piston rod that obtains _ExpWith physical location Y _ActDeviate, and the mathematical model expression formula G of the deviation of plantar pressure sensor signal and vola expected signal value and the PID controller that presets in it _PID, calculate voltage control signal U _Ctrl, and output it to amplifier module, get into step 6);

4) with piston rod desired locations Y _ExpMaximum Y for people's executor's piston rod outgoing position when the both legs stationary support state is set _Max, and export to adder;

The actuator position computing module is according to the knee joint angle actual change value θ of the knee joint angle pick off output that obtains _SensorRelational expression with piston rod position Y that presets in it and knee joint angle changing value θ calculates piston rod physical location Y _Act, and export to adder;

Adder is with the desired locations Y of the piston rod that obtains _ExpWith physical location Y _ActSubtract each other, and the deviate that calculates is exported to controller module;

Controller module is according to the desired locations Y of the piston rod that obtains _ExpWith physical location Y _ActThe mathematical model expression formula G of the PID controller that presets of deviate and Qi Nei _PID, calculate voltage control signal U _Ctrl, and output it to amplifier module, get into step 6);

5) the actuator position computing module is according to the knee joint angle expectation changing value θ of the knee joint angle pick off output that obtains _ExpRelational expression with piston rod position Y that presets in it and knee joint angle changing value θ calculates piston rod desired locations Y _Exp, and export to adder;

Adder is with the desired locations Y of the piston rod that obtains _ExpDirectly export to controller module;

Controller module is according to the desired locations Y of the piston rod that obtains _ExpAnd the mathematical model expression formula G of the PID controller that presets in it _PID, calculate voltage control signal U _Ctrl, and output it to amplifier module;

6) the relational expression K of amplifier module through presetting in it _aWith the voltage control signal U that obtains _CtrlConvert servo current amount I into, and output it to the hydraulic regulation module;

7) the relational expression G of hydraulic regulation module through presetting in it _SvThe servo current amount I that obtains is converted into the aperture size x of servo valve valve _v, and output it to executor's equivalent modules;

8) the equivalent mathematical model expression formula G of executor's equivalent modules through presetting in it _Eq, with the aperture size x of the servo valve valve that obtains _vWith support the support heavy burden balancing force F that the heavy burden compensating module feeds back _CompConvert the position Y that piston rod should be exported into _Need, and output it to support heavy burden compensating module;

9) support the equivalent mathematical model G that the heavy burden compensating module presets through its inside _CompThe position Y that piston rod should be exported _NeedConvert the support heavy burden balancing force F that piston rod should be exported into _Comp, and it is fed back to executor's equivalent modules again, and return step 1), send the order fulfillment circulation until control system.

In the foregoing description, the knee joint angle pick off can adopt increment of rotation formula encoder.

In the foregoing description; When the accurate more position servo tracking Control of needs; The executor can also adopt motor power to drive the power drive of replacement hydraulic pump; There are similarity in its embodiment and hydraulic pump power drive mode, and difference is: through conversion equipment permanent magnetic brushless being rotatablely moved converts knee joint hydraulic cylinder executor's round rectilinear motion into, and the rotating speed of motor size just can realize the accurate servo tracking control of different desired locations when controller only need be controlled at the different motion state; Thereby can realize the coordination control of some special action, like stair activity, kick, squat down etc.

Above-mentioned each embodiment only is used to explain the present invention, and wherein the structure of each part, connected mode etc. all can change to some extent, and every equivalents of on the basis of technical scheme of the present invention, carrying out and improvement all should not got rid of outside protection scope of the present invention.

Claims (8)

1. the device of a man-machine coupling heavy duty portable system; Comprise corresponding coupled firm limbs with the human body lower extremity; Said firm limbs comprise two groups of shank parts and thigh part, are connected two knee joints and executor between said shank part and the said thigh part, are connected two sensing boots of said shank part bottom; Be arranged on two said thigh part tops and be positioned at the back of the body frame of human body back, and control system and power supply; It is characterized in that:

Each said executor comprises a hydraulic cylinder, and said hydraulic cylinder is connected the middle part of said thigh part, and connects servo valve, electro-hydraulic reversing valve, fuel tank and oil pump successively through oil pipe, and said fuel tank and oil pump are arranged on said back of the body frame bottom; The piston rod of said hydraulic cylinder connects the middle part of said shank part, and the inner of said piston rod is provided with the flange that a circle is separated into said hydraulic cylinder in one hydraulic cavities and a gas accumulation of energy chamber;

Said control system comprises two groups of plantar pressure sensor that are arranged in the two said sensing boots; Be arranged on the two knee joint angle pick offs at two said knee joint places, be arranged on the gait judge module in the control integrated circuit board on the said back of the body frame, actuator position computing module, controller module, amplifier module, hydraulic regulation module, executor's equivalent modules, support heavy burden compensating module and two adders;

Said gait judge module compares the plantar pressure sensor signal that obtains and the given threshold value that presets in it and judges; Piston rod position Y that said actuator position computing module presets the knee joint angle changing value θ of the knee joint pick off that obtains output and Qi Nei and the relational expression of knee joint angle changing value θ, calculating piston rod position Y; Said controller module is through the mathematical model expression formula G of the PID controller that presets in it _PID, convert its deviate that obtains into voltage control signal U _Ctrl, and output it to said amplifier module; The relational expression K of said amplifier module through presetting in it _aVoltage control signal U with input _CtrlConvert servo current amount I into, and output it to said hydraulic regulation module; The relational expression G of said hydraulic regulation module through presetting in it _SvThe servo current amount I of input is converted into the aperture size x of servo valve valve _v, and output it to said executor's equivalent modules, the equivalent mathematical model expression formula G of said executor's equivalent modules through presetting in it _Eq, with the aperture size x of servo valve valve _vThe support heavy burden balancing force F that feeds back with said support heavy burden compensating module _Comp, convert the position Y that said piston rod should be exported into _Need, the equivalent mathematical model G that said support heavy burden compensating module presets through its inside _CompThe position Y that piston rod should be exported _NeedConvert the support heavy burden balancing force F that said piston rod should be exported into _Comp, and it is fed back to said executor's equivalent modules again.

2. the device of the heavily loaded portable of a kind of man-machine coupling as claimed in claim 1 system; It is characterized in that: one group of said plantar pressure sensor is two; Be placed on the position that contacts with rear heel with the human body forefoot respectively, said plantar pressure sensor output voltage signal.

3. the device of the heavily loaded portable of a kind of man-machine coupling as claimed in claim 1 system is characterized in that: the mathematical model expression formula G of the PID controller that presets in the said controller module _PIDFor:

G _PID＝K _P+T _Ds+T _I/s

In the formula: K _PBe proportionality coefficient, T _DBe differential coefficient, T _IBe integral coefficient.

4. the device of the heavily loaded portable of a kind of man-machine coupling as claimed in claim 2 system is characterized in that: the mathematical model expression formula G of the PID controller that presets in the said controller module _PIDFor:

G _PID＝K _P+T _Ds+T _I/s

In the formula: K _PBe proportionality coefficient, T _DBe differential coefficient, T _IBe integral coefficient.

5. like the device of claim 1 or the heavily loaded portable of 2 or 3 or 4 described a kind of man-machine couplings system, it is characterized in that: the relational expression of piston rod position Y that presets in the said actuator position computing module and knee joint angle changing value θ is:

$Y=\sqrt{{\mathrm{Dist}1}^2+{\mathrm{Dist}2}^2-2\&times;\mathrm{Dist}1\&times;\mathrm{Dist}2\&times;\cos ({\mathrm{\&theta;}}_{\mathrm{init}}-\mathrm{\&theta;})}$

In the formula: θ _InitBe static said kneed initial angle value when upright of human body, Dist1 is the distance of said hydraulic cylinder between the junction point on the said thigh part to said knee joint; Dist2 is the distance of said hydraulic cylinder between the junction point on the said shank part to said knee joint;

The relational expression K that presets in the said amplifier module _aFor:

$K_a=\frac{I}{U_{\mathrm{ctrl}}}$

In the formula: K _aIt is a gain amplifier constant;

The relational expression G that presets in the said hydraulic regulation module _SvFor:

$G_{\mathrm{sv}}=\frac{x_v}{I}=\frac{K_{\mathrm{sv}}}{\frac{s^2}{{{\mathrm{\&omega;}}_{\mathrm{sv}}}^2}+\frac{{2\mathrm{\&xi;}}_{\mathrm{sv}}}{{\mathrm{\&omega;}}_{\mathrm{sv}}}s+1}$

In the formula: ω _SvBe the natural frequency of said servo valve, ξ _SvBe the damping ratio of said servo valve, K _SvIt is the gain constant of said servo valve;

The equivalent mathematical model G that presets in said executor's equivalent modules _EqFor:

$G_{\mathrm{eq}}=\frac{\frac{K_q}{A_p}}{\frac{V_t{m}_t}{{4\mathrm{\&beta;}}_e{A}_p^2}{s}^3+(\frac{m_t{K}_{\mathrm{ce}}}{A_p^2}+\frac{B_e{V}_t}{{4\mathrm{\&beta;}}_e{A}_p^2})s^2+(1+\frac{B_e{K}_{\mathrm{ce}}}{A_p^2}+\frac{{\mathrm{KK}}_{\mathrm{ce}}}{A_p^2})s+\frac{{\mathrm{KK}}_{\mathrm{ce}}}{A_p^2}}$

In the formula: m _tBe the quality of the shank part of said firm limbs, B _eBe the damping of said firm limbs, β _eBe the hydraulic oil elastic modelling quantity in the said hydraulic cylinder, K _CeBe the total flow-pressure coefficient of said servo valve, K is the spring rate of said firm limbs, K _qBe the flow gain of said servo valve, A _pBe the effective area of said piston rod, V _tIt is the total measurement (volume) of said hydraulic cylinder;

The equivalent mathematical model G that presets in the said support heavy burden compensating module _CompFor:

G _comp＝G _YtoFG _FtoFK

Wherein,

$G_{\mathrm{FtoFK}}=\frac{1}{K_q{A}_p}(K_{\mathrm{ce}}+\frac{V_t}{{4\mathrm{\&beta;}}_e}s)$

$G_{\mathrm{YtoF}}=\frac{F_{\mathrm{comp}}}{Y_{\mathrm{need}}}.$

6. the device of the heavily loaded portable of a kind of man-machine coupling as claimed in claim 5 system is characterized in that: according to the gait that said gait judge module obtains, in following scope, choose G _YtoFValue:

0≤G _YtoF≤1866

Wherein, when being in single lower limb walking swing, G _YtoF=0.

7. like the control method of the heavily loaded portable of each described a kind of man-machine coupling of claim 1～6 system, may further comprise the steps:

1) on the thigh part of the firm limbs of man-machine coupling heavy duty portable system, a hydraulic cylinder is set, the piston rod of hydraulic cylinder is connected on the shank part of firm limbs, a circle flange is set in the inner of piston rod hydraulic cylinder is separated into a hydraulic cavities and a gas accumulation of energy chamber; Simultaneously; Plantar pressure sensor and the knee joint angle pick off corresponding with human body are set in the control system of firm limbs, and are arranged on gait judge module, actuator position computing module, controller module, amplifier module, hydraulic regulation module, executor's equivalent modules, support heavy burden compensating module and two adders on the control integrated circuit board;

2) plantar pressure sensor is gathered plantar pressure information, knee joint angle sensor acquisition knee joint rotation angle information;

3) the gait judge module compares the plantar pressure sensor signal that obtains and the given threshold value that presets in it and judges, and according to judged result, selects one of following three kinds of control instructions to carry out:

1. when being in the walking of single lower limb and supporting, then executing location closed loop control and power closed loop control instruction, entering step 4);

2. when being in the both legs stationary support, then executing location closed loop control instruction gets into step 5);

3. when being in single lower limb walking swing, then carry out gradual change open loop control instruction, get into step 6);

4) the actuator position computing module is according to the knee joint angle expectation changing value θ of the knee joint angle pick off output that obtains _ExpRelational expression with piston rod position Y that presets in it and knee joint angle changing value θ calculates piston rod desired locations Y _Exp, and export to adder;

The actuator position computing module is according to the knee joint angle actual change value θ of the knee joint angle pick off output that obtains _SensorRelational expression with piston rod position Y that presets in it and knee joint angle changing value θ calculates piston rod physical location Y _Act, and export to adder;

Adder is with the desired locations Y of the piston rod that obtains _ExpWith physical location Y _ActSubtract each other, and the deviate that calculates is exported to controller module;

Another adder is subtracted each other plantar pressure sensor signal that obtains and the vola expected signal value that is preset in the control system, and the deviate that calculates is exported to controller module;

Controller module is according to the desired locations Y of the piston rod that obtains _ExpWith physical location Y _ActDeviate, and the mathematical model expression formula G of the deviation of plantar pressure sensor signal and vola expected signal value and the PID controller that presets in it _PID, calculate voltage control signal U _Ctrl, and output it to amplifier module, get into step 7);

5) with piston rod desired locations Y _ExpMaximum Y for people's executor's piston rod outgoing position when the both legs stationary support state is set _Max, and export to adder;

The actuator position computing module is according to the knee joint angle actual change value θ of the knee joint angle pick off output that obtains _SensorRelational expression with piston rod position Y that presets in it and knee joint angle changing value θ calculates piston rod physical location Y _Act, and export to adder;

Adder is with the desired locations Y of the piston rod that obtains _ExpWith physical location Y _ActSubtract each other, and the deviate that calculates is exported to controller module;

Controller module is according to the desired locations Y of the piston rod that obtains _ExpWith physical location Y _ActThe mathematical model expression formula G of the PID controller that presets of deviate and Qi Nei _PID, calculate voltage control signal U _Ctrl, and output it to amplifier module, get into step 7);

6) the actuator position computing module is according to the knee joint angle expectation changing value θ of the knee joint angle pick off output that obtains _ExpRelational expression with piston rod position Y that presets in it and knee joint angle changing value θ calculates piston rod desired locations Y _Exp, and export to adder;

Adder is with the desired locations Y of the piston rod that obtains _ExpDirectly export to controller module;

Controller module is according to the desired locations Y of the piston rod that obtains _ExpAnd the mathematical model expression formula G of the PID controller that presets in it _PID, calculate voltage control signal U _Ctrl, and output it to amplifier module;

7) the relational expression K of amplifier module through presetting in it _aWith the voltage control signal U that obtains _CtrlConvert servo current amount I into, and output it to the hydraulic regulation module;

8) the relational expression G of hydraulic regulation module through presetting in it _SvThe servo current amount I that obtains is converted into the aperture size x of servo valve valve _v, and output it to executor's equivalent modules;

9) the equivalent mathematical model expression formula G of executor's equivalent modules through presetting in it _Eq, with the aperture size x of the servo valve valve that obtains _vWith support the support heavy burden balancing force F that the heavy burden compensating module feeds back _CompConvert the position Y that piston rod should be exported into _Need, and output it to support heavy burden compensating module;

10) support the equivalent mathematical model G that the heavy burden compensating module presets through its inside _CompThe position Y that piston rod should be exported _NeedConvert the support heavy burden balancing force F that piston rod should be exported into _Comp, and it is fed back to executor's equivalent modules again, and return step 2), send the order fulfillment circulation until control system.

8. the control method of the heavily loaded portable of a kind of man-machine coupling as claimed in claim 7 system is characterized in that: in the said step 4), be preset at vola desired signal and preassigned vola expectation support force F in the control system _ExpCorrespondence, said vola expectation support force F _ExpFor bearing a heavy burden behind the deduction body weight and heavily loaded portable system and device deadweight weight sum.

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