CN109015649A - Realize the hydraulic exoskeleton robot control system and method for rhythm and pace of moving things compliant movement - Google Patents
Realize the hydraulic exoskeleton robot control system and method for rhythm and pace of moving things compliant movement Download PDFInfo
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- CN109015649A CN109015649A CN201810965149.1A CN201810965149A CN109015649A CN 109015649 A CN109015649 A CN 109015649A CN 201810965149 A CN201810965149 A CN 201810965149A CN 109015649 A CN109015649 A CN 109015649A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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Abstract
The present invention relates to a kind of control system and method for realizing exoskeleton robot rhythm and pace of moving things compliant movement, the control system includes perception and planning system, servo-control system and power supply system；The perception includes perception and planning processor, plantar pressure acquisition module, human-computer interaction power acquisition module, inertial sensor module and human-computer interaction interface with planning system；The servo-control system includes execution level controller, electro-hydraulic drive system, feedback measuring unit and robot body module；The gait pattern generator, which is uniformly coordinated, generates each joint with reference to motion profile；It include power control algolithm and position control control algolithm in the execution level controller.The present invention uses stratification, dcs, by the calculation amount of reasonable distribution various pieces, not only improves the reliability and real-time of system, but also can be improved the flexibility and agility of exoskeleton robot.
Description
Technical field
The invention belongs to technical field of robot control, are related to exoskeleton robot control system and control method, especially
It is a kind of exoskeleton robot control system and method that submissive hydraulic-driven can be achieved.
Background technique
Exoskeleton robot is intelligentized man-machine interactive system, it can effectively enhance human body load capacity, in individual soldier's machine
Movement war, disaster relief rescue, rehabilitation medical field have wide application prospect.More typical exoskeleton robot application in the world
XOS and HULC, Lockheed Martin Corporation FORTIS, Israel including the advanced research project office (DAPRA) of U.S. Department of Defense
Rewalk and Japanese University of tsukuba HAL etc..In recent years, Chinese weapons group company, China Shipbuilding Industry Corporation,
Also carry out for different application scene the domestic scientific research institutes such as Harbin Institute of Technology, Beijing Institute of Technology, Chinese Academy of Sciences
The development of exoskeleton robot.
Control system is to determine one of the most key link of exoskeleton robot performance indicator.Traditional control strategy
Position, power or force-location mix control are individually carried out generally directed to each movable joint, lays particular emphasis on and robot bottom is closed
The Partial controll of section.Under this control model, ectoskeleton joint motions can regard a kind of simple allocinesis as, lack
The coordination control strategy with the overall situation of top layer between all joints, this results in fitting between existing exoskeleton robot and wearer
Answering property is poor, it is man-machine between interference problem it is more serious, man-machine walking motion is stiff.
Summary of the invention
The purpose of the present invention is to provide a kind of designs rationally, high reliablity, strong real-time and ectoskeleton machine may be implemented
The control system and method for device people's rhythm and pace of moving things compliant movement.
The present invention solves its realistic problem and adopts the following technical solutions to achieve:
A kind of hydraulic exoskeleton robot control system for realizing rhythm and pace of moving things compliant movement, including perception with planning system, watch
Take control system and power supply system；
The perception includes perceiving to adopt with planning processor, plantar pressure acquisition module, human-computer interaction power with planning system
Collect module, inertial sensor data acquisition module and human-computer interaction interface；The output end of the plantar pressure acquisition module and sense
Know and be connected with planning processor, for measuring the distribution of plantar pressure over time and space；The human-computer interaction power acquisition
The output end of module and perception are connected with planning processor, for measuring the contact force at wearer's thigh between ectoskeleton
Information；The output end of the inertial sensor data acquisition module and perception are connected with planning processor, for measuring wearing
Person's lower limb thigh and calf and upper limb trunk posture information；The human-computer interaction module and perception are connected with planning processor, use
In capture, transmitting and the man-machine data interaction of display；The perception and planning processor include DSP processing module and FPGA interface mould
Block, output end are connected with servo-control system, for receiving the output data of each acquisition module, to human motion gait into
The online comprehensive analysis of row, it is online to generate each joint motions reference locus of robot and control model and export to SERVO CONTROL
System；
The servo-control system includes execution level controller, electro-hydraulic drive system, feedback measuring unit and robot sheet
Module；The execution level controller includes DSP processing module and FPGA interface module；The electro-hydraulic drive system is by hydraulic pump
Motor driving plate, servo valve motor driving plate and hydraulic system are constituted；The execution level controller FPGA interface module receiver
Device people, which feeds back in measuring unit, to be exported after each sensing data to execution level controller DSP processing module；The execution level control
The output end of device DSP processing module processed is connected by hydraulic pump motor driving plate, servo valve motor driving plate with hydraulic system,
For the control signal of output hydraulic pressure pump motor and servo valve motor and then control hydraulic system actuation；The hydraulic system output
End is connected with robot body module, for driving each joint module movement of robot body；On the robot body
Hip joint and knee joint angle encoder be connected with execution level controller FPGA interface module, for by robot body
Hip Angle, which is exported with knee joint angle to execution level controller FPGA interface module, to be fed back；In the hydraulic system
Hydraulic pump rotating speed coder, servo valve angular encoder, hip cylinder oil pressure sensor and knee cylinder oil pressure sensor and execution level
Controller FPGA interface module is connected, for by the hydraulic revolution speed of hydraulic system, servo valve opening, machine human hip oil cylinder
Pressure signal and robot knee oil cylinder working-pressure signal, which are exported to execution level controller FPGA interface module, to be fed back；The liquid
Press pump motor, servo valve motor are connected by current sensor with execution level controller FPGA interface module, and being used for will be hydraulic
The current signal of pump motor and servo valve motor, which is exported to execution level controller FPGA interface module, to be fed back；
The output end of the power supply system is connected with planning system and servo-control system with perception respectively and supplies for it
Electricity.
A kind of hydraulic exoskeleton robot control method for realizing rhythm and pace of moving things compliant movement, comprising the following steps:
Step 1, perception receive the input signal of external sensor with planning processor；
Step 2, perception and the signal collected feature of planning processor extraction step 1；
Step 3, the movement for generating each joint of robot body with the gait pattern generator in planning processor by perceiving
Reference locus；
Step 4 makees the reference control track that each joint provided with planning system is perceived in step 3 and control model
For the input of servo-control system；
Control model is divided into position control mode and two kinds of force control mode by step 5, and position control mode is divided into hip
Joint angle position control and knee angle position control are closed using three of oil pressure in joint angles, servo valve opening and hydraulic cylinder
The control strategy of ring, three closed-loop control system is successively nested, and each servo closed loop is all made of pid control algorithm, control parameter
The principle of adjusting is outer ring after first inner ring；
Step 6, under force control mode, using Lagrangian method to ectoskeleton robot system carry out dynamics build
Mould obtains expectation torque of each joint of ectoskeleton under given reference locus, acquires oil pressure in hydraulic cylinder and carries out as feedback
Power closed-loop control.
Moreover, the step 1 method particularly includes: plantar pressure acquisition module and human-computer interaction power acquisition module pass through
CAN interface sends perception and planning processor, inertia sensing for plantar pressure information and human-computer interaction force information respectively
Device data acquisition module sends perception and planning processor, human-computer interaction interface by blue tooth interface for wearer's posture information
Perception and planning processor are sent by the control parameter that wearer sets by serial ports；
Moreover, the step 2 method particularly includes: perception and planning processor are to the plantar pressure signal of input, man-machine
It interacts force signal and wearer's attitude signal is filtered and feature extraction, extract gait phase, stride, gait week respectively
Phase, the characteristic variables such as reciprocal force and wearer's attitude angle between wearer and ectoskeleton.
Moreover, the specific steps of the step 3 include:
(1) in perception and one gait pattern generator of construction in planning processor, the gait pattern generator is by four
It is a intercouple functional neurosurgery metanetwork core group constitute, respectively correspond left side hip joint, left side knee joint, right hips and
Right side motion of knee joint track generation unit；
(2) function being input to the external sensible signal characteristic variable extracted in step 2 in gait pattern generator
In serotonergic neuron network core group, as external drive；
(3) gait pattern generator carries out learning training, and the synaptic weight between neuroid core group is constantly updated, directly
Steady-state value is converged to synaptic weight, hereafter using the average field potential of four neuroid cores group output as left side hip
Joint, left side knee joint, right hips and right side are kneed with reference to motion profile.
Moreover, the specific steps of the step 5 include:
(1) hip joint Angle Position controls: being constituted using Hip Angle-servo valve opening-hip cylinder pressure
Three closed-loop control system, wherein the hydraulic in-cylinder pressure sensor of hip experiences the variation of hip load pressure at first, by hydraulic cylinder pressure
Power closed loop is set as innermost ring, and hydraulic pump speed closed loop is most as final control target as second layer closed loop, Hip Angle
The control closed loop of outside；
(2) knee angle position control: knee joint angle-hydraulic servo valve opening-knee cylinder pressure structure is used
At three closed-loop control system, wherein the hydraulic in-cylinder pressure sensor of knee experiences knee load variation at first, therefore by knee pressure
Power closed loop is as control system innermost ring；One layer of outside is servo valve opening closed loop, and outmost is that knee joint angle control is closed
Ring.
The advantages of the present invention:
1, the present invention relates to a kind of hydraulic exoskeleton robot control system and control method for realizing rhythm and pace of moving things compliant movement,
The design feature of human motion nervous system layering is simulated, control system is divided into motion perception and gait planning layer and execution level
Servo-control system.Motion perception and gait planning layer using gait pattern generator as core, it receive plantar pressure sensor,
The data of human-computer interaction force snesor, inertial sensor and human-computer interaction interface generate each joint motions curve.Execution level with
Hydraulic servo controller is core, and the joint that it generates gait pattern generator refers to motion profile as giving, by joint
Angular encoder, joint force snesor have joint position control and joint power control algolithm as feedback, these compositions
Basic motion closed-loop control system.
2, the present invention proposes a kind of control system and method for realizing exoskeleton robot compliant movement.In control system frame
On structure, the design feature of simulation human motion nervous system layering proposes a kind of stratification, dcs, passes through conjunction
The calculation amount of reason distribution links, improves the real-time and reliability of system；On control strategy, transported in each joint bottom
Higher level gait pattern controller is introduced on the basis of dynamic control, is uniformly coordinated each oint motion trajectory of planning, is made outer
Bone robot has bionic movement ability that is more flexible, quick, coordinating.Pass through above-mentioned control system hardware structure and control
Innovation of both tactful, improves ectoskeleton man-machine system molar behavior flexibility.
3, gait pattern generator can change the ability for having on-line study and adjustment according to external environment in the present invention.
External environment variation is reflected by the characteristic variable of plantar pressure signal, human-computer interaction force signal and human body attitude signal to gait
In the input of mode generator, the Synaptic junction between neuronal kernel group in gait pattern generator is advised according to certain study
On-line tuning is then carried out, dynamic changes the coupled relation between core group, so that dynamic changes joint with reference between motion profile
Coupled relation finally improves the adaptability between man-machine.
4, the three closed loop controls that bottom position SERVO CONTROL is constituted using joint angles-servo valve opening-cylinder pressure
System processed can increase substantially the stable state accuracy and dynamic property of position control.
Detailed description of the invention
Fig. 1 is total system knot block diagram of the invention；
Fig. 2 is motion perception and gait planning system block diagram of the invention；
Fig. 3 is hydraulic servo control system block diagram of the invention；
Fig. 4 is electro-hydraulic drive system schematic diagram of the invention；
Fig. 5 is the control method flow chart of execution level controller of the invention；
Fig. 6 is power supply system block diagram of the invention.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing:
Biological study thinks that the rhythmic movement of humans and animals is produced by the central pattern generator (cpg) (CPG) being located in spinal cord
It is raw.The local oscillation network that central pattern generator (cpg) CPG is made of intrerneuron passes through the reality that intercouples between neuron
Existing self-oscillation, generates the multichannel or single channel periodic signal with stable phase angle interlocked relationship, coordinates, controls limbs or body phase
Close the rhythmic movement at position.Thus the present invention proposes a kind of hydraulic exoskeleton robot control system for realizing rhythm and pace of moving things compliant movement
And control method.
A kind of hydraulic exoskeleton robot control system for realizing rhythm and pace of moving things compliant movement, as shown in Figure 1, including perception and rule
Draw system, servo-control system and power supply system；
The perception includes perceiving to adopt with planning processor, plantar pressure acquisition module, human-computer interaction power with planning system
Collect module, inertial sensor module and human-computer interaction interface；The output end of the plantar pressure acquisition module and perception and planning
Processor is connected, for measuring the distribution of plantar pressure over time and space；The human-computer interaction power acquisition module it is defeated
Outlet and perception are connected with planning processor, for measuring the contact force information at wearer's thigh between ectoskeleton；Institute
The output end and perception for stating inertial sensor data acquisition module are connected with planning processor, big for measuring wearer's lower limb
Shank and upper limb trunk posture information；The human-computer interaction module and perception are connected with planning processor, for capturing, passing
Pass and show man-machine data interaction；The perception includes DSP processing module and FPGA interface module, output with planning processor
End is connected with servo-control system, for receiving the output data of each acquisition module, carries out human motion gait in twine helad
Analysis is closed, it is online to generate each joint motions reference locus of robot and control model and export to servo-control system；
The servo-control system is as shown in figure 3, include execution level controller, electro-hydraulic drive system, feedback measuring unit
With robot body module；The execution level controller includes DSP processing module and FPGA interface module；The electro-hydraulic driving system
System is made of hydraulic pump motor driving plate, servo valve motor driving plate and hydraulic system；The execution level controller FPGA interface
Module receiver device people, which feeds back in measuring unit, to be exported after each sensing data to execution level controller DSP processing module；Institute
State the output end of execution level controller DSP processing module by hydraulic pump motor driving plate, servo valve motor driving plate with it is hydraulic
System is connected, and for the control signal of output hydraulic pressure pump motor and servo valve motor and then controls hydraulic system actuation；It is described
Hydraulic system output end is connected with robot body module, for driving each joint module movement of robot body；It is described
Hip joint and knee joint angle encoder on robot body are connected with execution level controller FPGA interface module, and being used for will
The Hip Angle of robot body, which is exported with knee joint angle to execution level controller FPGA interface module, to be fed back；It is described
Hydraulic pump rotating speed coder, servo valve angular encoder, hip cylinder oil pressure sensor and knee cylinder oil pressure in hydraulic system pass
Sensor is connected with execution level controller FPGA interface module, for by the hydraulic revolution speed of hydraulic system, servo valve opening, machine
Device human hip oil cylinder working-pressure signal and robot knee oil cylinder working-pressure signal export to execution level controller FPGA interface module into
Row feedback；The hydraulic pump motor, servo valve motor are connected by current sensor with execution level controller FPGA interface module
It connecing, being carried out instead for exporting the current signal of hydraulic pump motor and servo valve motor to execution level controller FPGA interface module
Feedback；
The output end of the power supply system is connected with planning system and servo-control system with perception respectively and supplies for it
Electricity；
A kind of general frame such as Fig. 1 institute for the hydraulic exoskeleton robot control system for realizing rhythm and pace of moving things compliant movement of the present invention
Show, includes: the hydraulic servo control system of the motion perception including top layer and gait planning system, bottom using distributed frame
With power supply system system；The composition, function and effect of its each section are:
Top layer perception is responsible for perceiving human action intention and cooks up each pass of exoskeleton robot in real time with planning system
Save motion reference track.
Perception is with planning system structure as shown in Fig. 2, it realizes wearer motion's intention assessment and movement gait planning, packet
Include the external modules such as plantar pressure acquisition module, human-computer interaction power acquisition module, inertial sensor module, human-computer interaction interface and
Perception and planning processor.
External module sends primary processor for sensor information and carries out aggregation of data analysis, by the step for being located at primary processor
State mode generator generates each joint and refers to motion profile, in which:
(1) distribution of plantar pressure acquisition module measurement plantar pressure over time and space, and then realize body gait
Phase perception.Plantar pressure acquisition module is installed on the left and right sole of exoskeleton robot, pressure sensor working principle are as follows: U-shaped
Tracheae experiences pressure change and deformation occurs, and deformation occurs at nozzle generates pressure change for tracheae, connects at tracheae nozzle
Gas pressure sensor exports analog voltage model, acquires by analog filtering, amplification and AD, is believed number by CAN bus
Number it is sent to primary processor.Collection of simulant signal selects the single-chip microcontroller based on ARM framework, and single-chip microcontroller carries at least three tunnel on piece AD
CAN interface all the way, AD sample frequency are 1KHz, and precision is 12, have digital filtering algorithm, CAN communication speed on single-chip microcontroller
Rate is 100Hz.
(2) human-computer interaction power acquisition module is used to measure the contact force information at wearer's thigh between ectoskeleton, into
And it realizes human motion and is intended to perception.Human-computer interaction force snesor dynamometry principle is similar with plantar pressure sensor working principle,
Pressure sensor measures the pressure change of man-machine contact site air bag, exports analog voltage signal, by analog filtering, amplification and
AD acquisition, sends primary processor for digital signal by CAN bus.Collection of simulant signal selects the monolithic based on ARM framework
Machine, single-chip microcontroller carry at least two-way on piece AD and all the way CAN interface, and AD sample frequency is 1KHz, and precision is 12, on single-chip microcontroller
With digital filtering algorithm, CAN communication rate is 100Hz.
(3) inertial sensor data acquisition module is for measuring wearer's lower limb thigh and calf and upper limb trunk posture letter
Breath, provides reference for human body gait planning.Inertia sensing unit selects high-precision gyroaccelerometer MPU6050, passes through ARM
Processor reads the measurement data of MPU6050, has attitude algorithm device inside processor, cooperates Dynamic Kalman Filtering algorithm,
Posture information can be accurately exported in a dynamic environment, primary processor is sent for posture information by blue tooth interface, bluetooth is logical
News rate is 100Hz.
(4) human-computer interaction module selects touch screen, is fixed on wearer's arm by bandage, it provides phase for wearer
The window that parameter setting and system mode are shown is closed, data interaction is realized by serial ports, serial ports transmission rate is 1KHz.
(5) primary processor realizes the on-line analysis of human motion gait as data collection, analysis and the hardware platform of processing
With the functions such as the online generation of robot each oint motion trajectory.Primary processor select select 6748 series DSP of TI company and
The Duo-Core Architecture that Xilinx company Spartan6 Series FPGA is constituted passes through EMIF bus communication between FPGA and DSP.FPGA master
Frequency is 32MHz, for expanding sensor data interface and realizing sensing data filtering.FPGA extends out two-way CAN interface, wherein
All the way with plantar pressure acquisition module, human-computer interaction power acquisition module form communication network, another way with execution level main control
Device composition communication is network, and CAN communication rate is 100Hz；Two-way serial ports is extended out, is realized and human-computer interaction interface and upper respectively
Machine interface communication, serial communication rate are 1KHz；Blue tooth interface all the way is extended out, realizes and is communicated with inertia acquisition module, bluetooth is logical
News rate is 100Hz.DSP dominant frequency is 456MHz, realizes the joint attitude algorithm function in gait pattern generator, is exported each
The reference locus and control model information in joint.
2, bottom servo-control system receives the gesture commands that top layer is sent as movement execution level and carries out bottom
Position control or power control.
(1) execution level controller for realizing with perception planning system real-time data communication, sensor data acquisition, hydraulic
Servo control algorithm resolves and sends control command to driving unit.Controller selects TI company's T MS320F28335 type DSP
The Duo-Core Architecture constituted with Xilinx company Spartan6 Series FPGA passes through EMIF bus communication between two type controllers.
FPGA dominant frequency is 32MHz, is filtered for extensible sensor interface and sensor signal, and FPGA extends out 6 road increment type difference volume
Code device interface, 8 tunnel A D interfaces, 2 road serial ports.DSP dominant frequency is 150MHz, realizes that bottom position control or power control algolithm are real
It is existing, extend out 1 road CAN interface, 4 road PWM control ports.Controller input is the joint trajectories and control of gait planning subsystem output
Molding formula, it realizes that data are transmitted by CAN bus, and data communication rate is 100Hz.
(2) electro-hydraulic drive system is the execution structure of exoskeleton robot, directly drives exoskeleton robot joint action.
Exoskeleton lower limbs arranged on left and right sides respectively configures a set of small electro-hydraulic driving unit, and schematic diagram is as shown in figure 4, include that oil pressure passes
Sensor 1, safety valve 3, fuel tank 4, hydraulic pump 5, knee cylinder actuation servo valve 6, check valve 7, hip hydraulic cylinder 8, knee hydraulic cylinder
9, hip cylinder actuation servo valve 10.Functionally, hip hydraulic cylinder and knee hydraulic cylinder are provided dynamic by the same hydraulic pump
Power source enters the flow and pressure of hydraulic cylinder by adjusting respective servo valve regulation.In actual control system, using liquid
Press pump control controls the control strategy that combines with hydraulic efficiency servo-valve, make hydraulic system export the position specified by controller or
Torque.Hydraulic pump selects three-phase brushless motor driving, motor rated power 700W.Servo valve is driven by brush direct current motor
It is dynamic, motor rated power 100W.
(3) exoskeleton robot ontology mainly includes upper and lower extremities structure.Lower limb hip joint and knee joint have actively freely
Degree, is driven by small electro-hydraulic drive system recited above, and ankle-joint has passive freedom degree, by model of human ankle band
Dynamic carry out activity.Arm structure is mainly backrest, for carrying and fixing human and the required weight born.
(4) feedback measuring unit provides status feedback signal required for carrying out closed-loop control for electro-hydraulic drive system, main
It include joint angles encoder, oil pressure sensor, current sensor.Joint angles encoder includes left side hip joint angle
Spend encoder, left side knee joint angle encoder, left side hip hydraulic cylinder servo valve motor angle encoder, the hydraulic cylinder pump in left side
Rotating motor rotating speed coder；Right hips angular encoder, right side knee joint angle encoder, right side hip hydraulic cylinder servo
Valve motor angle encoder, the hydraulic cylinder pump rotating motor rotating speed coder in right side.Wherein hip and the choosing of knee joint angular encoder
With 4000 line incremental encoders, orthogonal pulses signal quadruple in FPGA is exported, angle resolution is 0.0225 degree.It is hydraulic
Servo valve angular encoder selects 1000 line incremental encoders, and output increases pulse signal quadruple in FPGA, angle measurement essence
Degree is 0.09 degree.Hydraulic pump motor rotating speed coder selects 2048 line incremental encoders, exports orthogonal pulses signal in FPGA
Interior quadruple, angle resolution are 0.0439 degree.Oil pressure sensor includes left side hip cylinder pressure sensor, left side knee
Cylinder pressure sensor；Right side hip cylinder pressure sensor, right side knee cylinder pressure sensor.Oil pressure sensor
Hip cylinder rod chamber, rodless cavity and knee cylinder rodless cavity side oil pressure are measured respectively, select OMEGA company PX600 Series Pressure
Sensor, output analog difference signal range are 0-10mV, pass through the big rear progress AD sampling of instrument amplifier hair, AD sample frequency
For 10KHz, data enter FPGA and do digital filtering after sampling.Current sensor selects linear Hall measurement pump rotating motor direct current female
Electric current at line, it is 0-3.3V that linear Hall, which exports analog signal range, and Hall output carries out AD sampling, AD sampling frequency after filtering
Rate is 10KHz.
3, power supply system provides the D.C. regulated power supply for meeting system power dissipation requirement for each module.
Power supply system generates 1 road 48V by power supply adaptor as shown in fig. 6, lithium battery module output 48V DC power supply,
Two-way 12V, 3 road 5V power supplys do isolated from power design, power supply design objective such as table according to practical application request again in the circuit board
Shown in 1.
In perception in planning processing board, 4 road 5V power supplys are individually insulated out to the 5V power supply signal of input, are supplied respectively to foot
Bottom pressure acquisition module, human-computer interaction power acquisition module, inertial sensor data acquisition module and human-computer interaction interface module.
On electro-hydraulic servo control plate, 3 tunnel isolated from power are carried out to the 5V power supply signal wherein inputted all the way, are supplied respectively to
Joint angles encoder, hydraulic pump motor rotating speed coder and servo valve angular encoder；To the 5V power supply of another way input
Signal carries out 2 tunnel isolated from power, is supplied respectively to oil pressure sensor in electric current linear hall sensor and hydraulic cylinder.
In power of motor driving plate, the 48V power supply hydraulic pump motor of input, wherein 12V electric signal supplies all the way
Brushless motor Hall sensor, in addition 12V power supply hydraulic cylinder servo valve all the way.
1 power supply design objective of table
A kind of hydraulic exoskeleton robot control method for realizing rhythm and pace of moving things compliant movement, as shown in figure 5, including following step
It is rapid:
Step 1, perception receive the input signal of external sensor with planning processor；
The step 1 method particularly includes: plantar pressure acquisition module and human-computer interaction power acquisition module pass through CAN bus
Interface sends perception and planning processor for plantar pressure information and human-computer interaction force information respectively, and inertial sensor data is adopted
Collect module and perception and planning processor are sent by blue tooth interface by wearer's posture information, human-computer interaction interface passes through serial ports
Perception and planning processor are sent by the control parameter (control model, system stiffness etc.) that wearer sets；
Step 2, perception and the signal collected feature of planning processor extraction step 1；
The step 2 method particularly includes: plantar pressure signal to input of perception and planning processor, human-computer interaction power
Signal and wearer's attitude signal is filtered and feature extraction, extracts gait phase, stride, gait cycle respectively, wears
The characteristic variables such as reciprocal force and wearer's attitude angle between wearer and ectoskeleton.
Step 3, the movement for generating each joint of robot body with the gait pattern generator in planning processor by perceiving
Reference locus；
The specific steps of the step 3 include:
(1) in perception and a gait pattern generator embedded in planning processor, for simulating the maincenter of human myeloid
Mode generator generates rhythmic movement；The gait pattern generator rolls into a ball structure by four functional neurosurgery metanetwork cores to intercouple
At respectively corresponding left side hip joint, left side knee joint, right hips and right side motion of knee joint path generator, generate each
The reference motion profile in a joint；
(2) function being input to the external sensible signal characteristic variable extracted in step 2 in gait pattern generator
In serotonergic neuron network core group, as external drive；
(3) gait pattern generator carries out learning training, and the synaptic weight between neuroid core group is constantly updated, directly
Steady-state value is converged to synaptic weight, hereafter using the average field potential of four neuroid cores group output as left side hip
Joint, left side knee joint, right hips and right side are kneed with reference to motion profile.
Step 4 makees the reference control track that each joint provided with planning system is perceived in step 3 and control model
For the input of servo-control system；
Control model is divided into position control mode and two kinds of force control mode by step 5, and position control mode is divided into hip
Joint angle position control and knee joint position control, using three closed loops of oil pressure in joint angles, servo valve opening and hydraulic cylinder
Control strategy, three closed-loop control system is successively nested, and the equal closed loop of each servo is all made of pid control algorithm, control parameter
The principle of adjusting is outer ring after first inner ring.
The specific steps of the step 5 include:
(1) hip joint Angle Position controls: being constituted using Hip Angle-servo valve opening-hip cylinder pressure
Three closed-loop control system, wherein the hydraulic in-cylinder pressure sensor of hip experiences the variation of hip load pressure at first, by hydraulic cylinder pressure
Power closed loop is set as innermost ring, and hydraulic pump speed closed loop is most as final control target as second layer closed loop, Hip Angle
The control closed loop of outside；
(2) knee angle position control: knee joint angle-hydraulic servo valve opening-knee cylinder pressure structure is used
At three closed-loop control system, wherein the hydraulic in-cylinder pressure sensor of knee experiences knee load variation at first, therefore by knee pressure
For power closed loop as control system innermost ring, one layer of outside is servo valve opening closed loop, and outmost is that knee joint angle control is closed
Ring.
Step 6, under force control mode, using Lagrangian method to ectoskeleton robot system carry out dynamics build
Mould obtains expectation torque of each joint of ectoskeleton under given reference locus, acquires oil pressure in hydraulic cylinder and carries out as feedback
Power closed-loop control.
In the present embodiment, acquisition hydraulic pump rotating motor electric current in real time, setting are needed when carrying out position or power controls
Current threshold, when controller, control system will do overcurrent protection measure.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore the present invention includes
It is not limited to embodiment described in specific embodiment, it is all to be obtained according to the technique and scheme of the present invention by those skilled in the art
Other embodiments, also belong to the scope of protection of the invention.
Claims (6)
1. a kind of hydraulic exoskeleton robot control system for realizing rhythm and pace of moving things compliant movement, it is characterised in that: including perception and rule
Draw system, servo-control system and power supply system；
The perception includes that perception and planning processor, plantar pressure acquisition module, human-computer interaction power acquire mould with planning system
Block, inertial sensor data acquisition module and human-computer interaction interface；The output end of the plantar pressure acquisition module and perception with
Planning processor is connected, for measuring the distribution of plantar pressure over time and space；The human-computer interaction power acquisition module
Output end and perception be connected with planning processor, believe for measuring contact force at wearer's thigh between ectoskeleton
Breath；The output end of the inertial sensor data acquisition module and perception are connected with planning processor, for measuring wearer
Lower limb thigh and calf and upper limb trunk posture information；The human-computer interaction module and perception are connected with planning processor, are used for
Capture, transmit and show man-machine data interaction；The perception and planning processor include DSP processing module and FPGA interface mould
Block, output end are connected with servo-control system, for receiving the output data of each acquisition module, to human motion gait into
The online comprehensive analysis of row, it is online to generate each joint motions reference locus of robot and control model and export to SERVO CONTROL
System；
The servo-control system includes execution level controller, electro-hydraulic drive system, feedback measuring unit and robot body mould
Block；The execution level controller includes DSP processing module and FPGA interface module；The electro-hydraulic drive system is by hydraulic pump motor
Driving plate, servo valve motor driving plate and hydraulic system are constituted；The execution level controller FPGA interface module receiver device people
It feeds back in measuring unit and exports after each sensing data to execution level controller DSP processing module；The execution level controller
The output end of DSP processing module is connected by hydraulic pump motor driving plate, servo valve motor driving plate with hydraulic system, is used for
The control signal of output hydraulic pressure pump motor and servo valve motor and then control hydraulic system actuation；The hydraulic system output end with
Robot body module is connected, for driving each joint module movement of robot body；Hip on the robot body
Joint and knee joint angle encoder are connected with execution level controller FPGA interface module, for closing the hip of robot body
Section angle, which is exported with knee joint angle to execution level controller FPGA interface module, to be fed back；It is hydraulic in the hydraulic system
Revolution speed encoder, servo valve angular encoder, hip cylinder oil pressure sensor and knee cylinder oil pressure sensor and execution level control
Device FPGA interface module is connected, for by the hydraulic revolution speed of hydraulic system, servo valve opening, machine human hip oil cylinder working-pressure
Signal and robot knee oil cylinder working-pressure signal, which are exported to execution level controller FPGA interface module, to be fed back；The hydraulic pump
Motor, servo valve motor are connected by current sensor with execution level controller FPGA interface module, for hydraulic pump is electric
The current signal of machine and servo valve motor, which is exported to execution level controller FPGA interface module, to be fed back；
The output end of the power supply system is connected with planning system and servo-control system with perception respectively and powers for it.
2. a kind of controlling party for the hydraulic exoskeleton robot control system for realizing rhythm and pace of moving things compliant movement as described in claim 1
Method, it is characterised in that: the following steps are included:
Step 1, perception receive the input signal of external sensor with planning processor；
Step 2, perception and the signal collected feature of planning processor extraction step 1；
Step 3, the motion reference for generating each joint of robot body with the gait pattern generator in planning processor by perceiving
Track；
Step 4 will perceive the reference in each joint provided with planning system and control track and control model as watching in step 3
Take the input of control system；
Control model is divided into position control mode and two kinds of force control mode by step 5, and position control mode is divided into hip joint
Angle Position control and knee joint position control, using the control of three closed loops of oil pressure in joint angles, servo valve opening and hydraulic cylinder
System strategy, three closed-loop control system is successively nested, and the equal closed loop of each servo is all made of pid control algorithm, control parameter adjusting
Principle be outer ring after first inner ring；
Step 6, under force control mode, using Lagrangian method to ectoskeleton robot system carry out Dynamic Modeling, obtain
Expectation torque of each joint of ectoskeleton under given reference locus out acquires oil pressure in hydraulic cylinder and carries out power as feedback and close
Ring control.
3. a kind of control of hydraulic exoskeleton robot control system for realizing rhythm and pace of moving things compliant movement according to claim 2
Method, it is characterised in that: the step 1 method particularly includes: plantar pressure acquisition module and human-computer interaction power acquisition module are logical
It crosses CAN interface and sends perception and planning processor for plantar pressure information and human-computer interaction force information respectively, inertia passes
Sensor data acquisition module sends perception and planning processor, human-computer interaction circle by blue tooth interface for wearer's posture information
Face sends perception and planning processor for the control parameter that wearer sets by serial ports.
4. a kind of control of hydraulic exoskeleton robot control system for realizing rhythm and pace of moving things compliant movement according to claim 2
Method, it is characterised in that: the step 2 method particularly includes: plantar pressure signal to input of perception and planning processor, people
Machine interacts force signal and wearer's attitude signal is filtered and feature extraction, extracts gait phase, stride, gait respectively
Period, the characteristic variables such as reciprocal force and wearer's attitude angle between wearer and ectoskeleton.
5. a kind of control of hydraulic exoskeleton robot control system for realizing rhythm and pace of moving things compliant movement according to claim 2
Method, it is characterised in that: the specific steps of the step 3 include:
(1) in perception and one gait pattern generator of construction in planning processor, the gait pattern generator is by four phases
The functional neurosurgery metanetwork core of mutual coupling, which is rolled into a ball, to be constituted, and left side hip joint, left side knee joint, right hips and right side are respectively corresponded
Motion of knee joint track generation unit；
(2) the external sensible signal characteristic variable extracted in step 2 is input to the mind of the function in gait pattern generator
It is rolled into a ball through metanetwork core, as external drive；
(3) gait pattern generator carries out learning training, and the synaptic weight between neuroid core group is constantly updated, until prominent
Weight convergence is touched to steady-state value, hereafter closes the average field potential of four neuroid core group outputs as left side hip
Section, left side knee joint, right hips and right side are kneed with reference to motion profile.
6. a kind of control of hydraulic exoskeleton robot control system for realizing rhythm and pace of moving things compliant movement according to claim 2
Method, it is characterised in that: the specific steps of the step 5 include:
(1) hip joint Angle Position controls: three constituted using Hip Angle-servo valve opening-hip cylinder pressure are closed
Ring control system, wherein the hydraulic in-cylinder pressure sensor of hip experiences the variation of hip load pressure at first, and cylinder pressure is closed
Ring is set as innermost ring, and hydraulic pump speed closed loop is outermost as final control target as second layer closed loop, Hip Angle
Control closed loop；
(2) it knee angle position control: is constituted using knee joint angle-hydraulic servo valve opening-knee cylinder pressure
Three closed-loop control system, wherein the hydraulic in-cylinder pressure sensor of knee experiences knee load variation at first, therefore knee pressure is closed
Ring is as control system innermost ring；One layer of outside is servo valve opening closed loop, and outmost is knee joint angle control closed loop.
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