Design And Simulation Of The Hydraulic Servo Control System Of Wearable Exoskeleton

With the continuous development of science and technology,bionics become a highlight in the field of scientific research,and gradually into the our field of vision,one of the typical is designed with the aid of bionics principle exoskeleton,because it has a hard shell,can rise to protect,support,help,bearing,and so on,therefore,get the wide attention from all over the world.This article in view of the wearable weight exoskeleton hydraulic servo control system is studied,its content mainly deals with:according to the structure of human body physiology,determines the lower limb exoskeleton structure size each part and the limit of each joint Angle,and the dynamics modeling and simulation,get the joint torque,this paper introduces the wearable weight exoskeleton hydraulic servo control principle,and according to the control principle and requirements,determine the overall scheme of the hydraulic drive system;According to the demands of components of hydraulic system by involving the design and selection,and has carried on the modeling and analysis of hydraulic servo system,in the process of modeling,considering the various joints of valve controlling cylinder model set up in the same way,in order to avoid duplication,this article only to the single joint valve controlled asymmetric cylinder of the hydraulic servo system for the construction of the modeland the hydraulic position servo control system transfer function is derived,and on the Simulink platform completed the construction of the system model and dynamic simulation;Considering the wearable weight exoskeleton electro-hydraulic servo control system is nonlinear,time delay and other uncertain factors,it is difficult to ensure control precision,stability and fast response problem,this paper respectively to design PID controller and fuzzy PID controller,and with the help of Simulink platform were built based on PID control and fuzzy PID control of wearable weight exoskeleton hydraulic servo control system model,and the simulation analysis,according to the results of simulation to observe two controller on the system's control effect,found that the fuzzy PID controller for the system control effect is better than PID control effect,meet the control requirements of the system;In order to be able to reflect the real image wearable weight exoskeleton electro-hydraulic servo system of the working environment and detailed observation and control system and hydraulic system integrated together,the performance of each part,and adopt the way of the AMESim/Simulink joint this system on the joint simulation and analysis.