CN105798932B - A kind of control method for exoskeleton system walking states - Google Patents
A kind of control method for exoskeleton system walking states Download PDFInfo
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- CN105798932B CN105798932B CN201610333400.3A CN201610333400A CN105798932B CN 105798932 B CN105798932 B CN 105798932B CN 201610333400 A CN201610333400 A CN 201610333400A CN 105798932 B CN105798932 B CN 105798932B
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- Prior art keywords
- hydraulic cylinder
- exoskeleton system
- knee joint
- gait
- support
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Abstract
The invention belongs to automatic control technology field, it is related to a kind of control method for exoskeleton system walking states.Traditional single parameter control mode is mainly improved by the present invention, and gait of the exoskeleton system under walking states is specifically mainly divided into 5 continuous gaits：Receive leg, support, contact to earth in advance, dynamic support and stable state are supported and are respectively controlled.Beneficial effects of the present invention are, by the division to walking step state, the mode of traditional single parameter whole-process control to be improved into the mode that multiple parameters participate in control jointly so that the movement of exoskeleton system becomes submissive, more conforms to the operation form of human body natural.
Description
Technical field
The invention belongs to automatic control technology field, it is related to a kind of control method for exoskeleton system walking states.
Background technology
In rescue and relief work or mountain environment, people generally require to carry substantial amounts of equipment and goods and materials, can so influence row
Enter speed, travel distance and maneuverability, therefore, various countries accelerate to develop the ectoskeleton portable power-assisted for meeting ergonomics
System, to realize reduction physical consumption, improves heavy burden ability and maneuverability.The control of current assistance exoskeleton system mainly
Method is controlled to use hydraulic control system with reference to PID control method, and PID control method needs first to provide control ginseng
Number, conventional at present PID control is but actual generally using the method for parameter whole-process control exoskeleton system from the beginning to the end
Upper people can also drive the variation of center of gravity during walking while being subjected to displacement, if whole process is by identical control
Parameter is controlled, and the action of exoskeleton system can be caused to seem stiff, does not meet the feature of normal human's walking.
The content of the invention
The purpose of the present invention, aiming above mentioned problem, there is provided a kind of controlling party for exoskeleton system walking states
Method.
The technical scheme is that：A kind of control method for exoskeleton system walking states, including ectoskeleton system
System, the power source of the exoskeleton system is the hydraulic cylinder by servo valve control；The exoskeleton system at least also includes being located at
The pressure sensor in vola, the angular transducer at knee joint and the inertial sensor positioned at leg；Then described control
Method comprises the following steps：
A. gait of the exoskeleton system under walking states is specifically divided into 5 continuous gaits：Receipts leg, in advance support,
Contact to earth, dynamic support and stable state are supported；Wherein, stable holding state is both last gait of walking step state, is also walking
The initial gait of gait；When stable state is supported, the whole heavy burden of hydraulic cylinder support；When exoskeleton system starts walking, enter
Step b；
B. receive under leg gait, servo valve standard-sized sheet, exoskeleton system drives human body to carry out receipts leg, enter after receiving leg release
Step c；
C. under pre- support gait, the control electric current of servo valve is calculated by equation below 1：
Wherein, IctrlFor servo valve control input current, YexpThe desired length of hydraulic cylinder is represented, Y represents the reality of hydraulic cylinder
Border length, s is unit second；YexpIt can be calculated by equation below 2：
θkRepresent the knee joint angle that angular transducer measurement is obtained；Dist1 represents that hydraulic cylinder thigh tie point to knee is closed
Bearings distance；Dist2 represents hydraulic cylinder shank tie point to knee joint bearing distance；
Enter step d after paying support release in advance；
D. contact to earth under gait, the control electric current of servo valve is calculated by equation below 3：
Wherein, IctrlFor servo valve control input current, YexpThe desired length of hydraulic cylinder is represented, Y represents the reality of hydraulic cylinder
Border length, s is unit second；YexpIt can be calculated by equation below 2：
θkRepresent the knee joint angle that angular transducer measurement is obtained；Dist1 represents that hydraulic cylinder thigh tie point to knee is closed
Bearings distance；Dist2 represents hydraulic cylinder shank tie point to knee joint bearing distance；
Contact to earth and enter step e after release；
E. under dynamic support step, the control electric current of servo valve is calculated by equation below 4：
Wherein, IctrlFor servo valve control input current, YexpThe desired length of hydraulic cylinder is represented, Y represents the reality of hydraulic cylinder
Border length, s is unit second；YexpIt can be calculated by equation below 2：
θkRepresent the knee joint angle that angular transducer measurement is obtained；Dist1 represents that hydraulic cylinder thigh tie point to knee is closed
Bearings distance；Dist2 represents hydraulic cylinder shank tie point to knee joint bearing distance；
Enter stable state after dynamic support release to support, exoskeleton system completes the travelling control of a gait.
Beneficial effects of the present invention are, by the division to walking step state, by the side of traditional single parameter whole-process control
Formula is improved to the mode that multiple parameters participate in control jointly so that the movement of exoskeleton system becomes submissive, more conforms to human body
Naturally run form.
Brief description of the drawings
The walking step state that Fig. 1 is the present invention divides schematic diagram；
Fig. 2 is the control matched curve schematic diagram of pre- support gait；
Fig. 3 is the hydraulic cylinder length simulation curve schematic diagram of pre- support gait；
Fig. 4 is the control matched curve schematic diagram of gait of contacting to earth；
Fig. 5 is the hydraulic cylinder length simulation curve schematic diagram of gait of contacting to earth；
Fig. 6 is the control matched curve schematic diagram of dynamic support gait；
Fig. 7 is the hydraulic cylinder length simulation curve schematic diagram of dynamic support gait；
Fig. 8 is the hydraulic cylinder vertical force simulation curve schematic diagram of dynamic support gait；
Fig. 9 is the overall simulation curve schematic diagram of level walking hydraulic cylinder length.
Embodiment
Below in conjunction with the accompanying drawings, technical scheme is described in detail：
The present invention mainly says that traditional single parameter control mode is improved, as shown in figure 1, mainly by ectoskeleton system
The gait united under walking states is specifically divided into 5 continuous gaits：Receive leg, support, contact to earth in advance, dynamic support and stable state branch
Support and be respectively controlled.
Leg stage control servo valve standard-sized sheet is received, allows model machine to receive leg in advance, people's leg follows model machine to receive leg, and people adapts to machine.By
Then single-action hydraulic cylinder, without relevant control.
According to human cinology's rule, pre- driving phase should more slowly stretch one's legs, so needing dynamically to give in advance
The small controlled quentity controlled variable of servo valve, selection servo valve position control is soft to be stretched one's legs with people, helps people to shift to an earlier date power-assisted, auxiliary people completes
The transfer adjustment of center of gravity when both legs switch；The expectation curve that control process is used is as shown in Fig. 2 imitate expectation curve input
Very, constantly adjustment control parameter untill actual hydraulic pressure cylinder length follows desired length to work well, obtains imitating shown in Fig. 3
True figure.Specific method is：
Controlled using servo valve position, the PID control instruction of use is as follows：
The control electric current of servo valve is calculated by equation below 1：
Wherein, IctrlFor servo valve control input current, YexpThe desired length of hydraulic cylinder is represented, Y represents the reality of hydraulic cylinder
Border length, s is unit second；YexpIt can be calculated by equation below 2：
θkRepresent the knee joint angle that angular transducer measurement is obtained；Dist1 represents that hydraulic cylinder thigh tie point to knee is closed
Bearings distance；Dist2 represents hydraulic cylinder shank tie point to knee joint bearing distance；
The stage hydraulic cylinder of contacting to earth needs to provide a preliminary support human bady gravitational and a support force of load, the control of this stage
System needs certain accuracy to react human body walking rule, so being controlled using position.The expectation curve that control process is used is such as
Matched curve shown in Fig. 4, simulation curve schematic diagram as shown in Figure 5 can be obtained by emulation；Specific method is：
The PID control that uses instruct for：
Contact to earth under gait, the control electric current of servo valve is calculated by equation below 3：
Wherein, IctrlFor servo valve control input current, YexpThe desired length of hydraulic cylinder is represented, Y represents the reality of hydraulic cylinder
Border length, s is unit second；YexpIt can be calculated by equation below 2：
θkRepresent the knee joint angle that angular transducer measurement is obtained；Dist1 represents that hydraulic cylinder thigh tie point to knee is closed
Bearings distance；Dist2 represents hydraulic cylinder shank tie point to knee joint bearing distance；
Dynamic support stage hydraulic cylinder needs quick and precisely good support largely to bear a heavy burden, therefore this stage uses position
It is warm that control, power are controlled, and wherein the expectation curve of position control by emulation as shown in fig. 6, can obtain simulation curve such as
Simulation curve figure shown in Fig. 7 and Fig. 8；
PID control that this stage uses instruct for：
KPID(s)=0.25 × KPID positions(s)+0.75×KPID power(s)
Under dynamic support step, the control electric current of servo valve is calculated by equation below 4：
Wherein, IctrlFor servo valve control input current, YexpThe desired length of hydraulic cylinder is represented, Y represents the reality of hydraulic cylinder
Border length, s is unit second；YexpIt can be calculated by equation below 2：
θkRepresent the knee joint angle that angular transducer measurement is obtained；Dist1 represents that hydraulic cylinder thigh tie point to knee is closed
Bearings distance；Dist2 represents hydraulic cylinder shank tie point to knee joint bearing distance；
Enter stable state after dynamic support release to support, exoskeleton system completes the travelling control of a gait.
The flat Simulation of walking schematic diagram that above-mentioned step is monolithically fabricated is as shown in Figure 9.
Claims (1)
1. a kind of control method for exoskeleton system walking states, including exoskeleton system, the exoskeleton system it is dynamic
Power source is the hydraulic cylinder by servo valve control；The exoskeleton system at least also includes being located at the pressure sensor in vola, is located at
Angular transducer at knee joint and the inertial sensor positioned at leg；Then described control method comprises the following steps：
A. gait of the exoskeleton system under walking states is specifically divided into 5 continuous gaits：Receive leg, support, contact to earth in advance,
Dynamic support and stable state support；Wherein, stable holding state is both last gait of walking step state, is also walking step state
Initial gait；When stable state is supported, the whole heavy burden of hydraulic cylinder support；When exoskeleton system starts walking, into step b；
B. receive under leg gait, servo valve standard-sized sheet, exoskeleton system drives human body to carry out receipts leg, receive and enter step after leg release
c；
C. under pre- support gait, the control electric current of servo valve is calculated by equation below 1：
Wherein, IctrlFor servo valve control input current, YexpThe desired length of hydraulic cylinder is represented, Y represents the actual (tube) length of hydraulic cylinder
Degree, s is chronomere second；YexpIt can be calculated by equation below 2：
θkRepresent the knee joint angle that angular transducer measurement is obtained；Dist1 represents hydraulic cylinder thigh tie point to knee joint bearing
Distance；Dist2 represents hydraulic cylinder shank tie point to knee joint bearing distance；
Enter step d after paying support release in advance；
D. contact to earth under gait, the control electric current of servo valve is calculated by equation below 3：
Wherein, IctrlFor servo valve control input current, YexpThe desired length of hydraulic cylinder is represented, Y represents the actual (tube) length of hydraulic cylinder
Degree, s is chronomere second；YexpIt can be calculated by equation below 2：
θkRepresent the knee joint angle that angular transducer measurement is obtained；Dist1 represents hydraulic cylinder thigh tie point to knee joint bearing
Distance；Dist2 represents hydraulic cylinder shank tie point to knee joint bearing distance；
Contact to earth and enter step e after release；
E. under dynamic support step, the control electric current of servo valve is calculated by equation below 4：
Wherein, IctrlFor servo valve control input current, YexpThe desired length of hydraulic cylinder is represented, Y represents the actual (tube) length of hydraulic cylinder
Degree, s is chronomere second；YexpIt can be calculated by equation below 2：
θkRepresent the knee joint angle that angular transducer measurement is obtained；Dist1 represents hydraulic cylinder thigh tie point to knee joint bearing
Distance；Dist2 represents hydraulic cylinder shank tie point to knee joint bearing distance；
Enter stable state after dynamic support release to support, exoskeleton system completes the travelling control of a gait.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102098986A (en) * | 2008-07-23 | 2011-06-15 | 伯克利仿生技术公司 | An exoskeleton and method for controlling a swing leg of the exoskeleton |
| CN103586867A (en) * | 2013-11-11 | 2014-02-19 | 北京航空航天大学 | Electric control system of multi-freedom-degree wearable lower limb external skeleton robot |
| CN103612257A (en) * | 2013-12-02 | 2014-03-05 | 电子科技大学 | External skeleton pump and valve combined control device and method |
| CN105014672A (en) * | 2015-08-20 | 2015-11-04 | 常州先进制造技术研究所 | Control system of wearable robot for helping disabled |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5810844B2 (en) * | 2011-11-02 | 2015-11-11 | トヨタ自動車株式会社 | Assist robot controller |
| WO2013172968A1 (en) * | 2012-05-15 | 2013-11-21 | Vanderbilt University | Stair ascent and descent control for powered lower limb devices |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102098986A (en) * | 2008-07-23 | 2011-06-15 | 伯克利仿生技术公司 | An exoskeleton and method for controlling a swing leg of the exoskeleton |
| CN103586867A (en) * | 2013-11-11 | 2014-02-19 | 北京航空航天大学 | Electric control system of multi-freedom-degree wearable lower limb external skeleton robot |
| CN103612257A (en) * | 2013-12-02 | 2014-03-05 | 电子科技大学 | External skeleton pump and valve combined control device and method |
| CN105014672A (en) * | 2015-08-20 | 2015-11-04 | 常州先进制造技术研究所 | Control system of wearable robot for helping disabled |
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Effective date of registration: 20190621 Address after: 610094 Tianjiubei Lane 139, Chengdu High-tech Zone, Sichuan Province Patentee after: Chengdu Outwit Science & Technology Co., Ltd. Address before: 610041 No. 33 Ximianqiao Street, Wuhou District, Chengdu City, Sichuan Province Patentee before: CHENGDU RUNHUI TECHNOLOGY CO., LTD. |
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Granted publication date: 20171013 Termination date: 20200519 |