Research On The Control Technology Of Individual Solider Lower Extremity Exoskeleton System

Individual Solider Lower Extremity Exoskeleton System is worn by soldiers, and canprovide the auxiliary bearing of the robot system. It involves disciplines such as mechanicaland electrical engineering, automatic control, bio-engineering and artificial intelligence, is theintegration of a variety of high-tech. The paper will research on the control technology ofindividual solider lower extremity exoskeleton system.According to the particularity of application environment of individual solider lowerextremity exoskeleton system and individual application object, this paper mainly researchthe following aspects.Firstly, the contrast research status at home and abroad of exoskeleton robot, choosesuitable reference for the design of this system. Through the analysis and research of thehuman lower limb motion mechanism, provide theoretical basis for personification ofexternal mechanical structure design. Select the appropriate control strategy, so that thesystem can better fit the wearer action.Secondly, research on the type and distribution of the sensor and multi-sensor datafusion technology, which provides theoretical support for improving the sampling precisionand the sampling rate. FIR structure of the digital filter and NLMS filtering algorithm areselected as a system of filtering unit.Finally, the control system needs acquisition and processing feedback signal of thesensors. This paper selects digital hydraulic drive as the drive system, select the CAN bus asthe control bus system, select the TMS320F2812of TI company as the system processorcontrol unit. Through the study of various control methods, and compared with the result of simulation model built in Simulink environment of matlab, derived fuzzy adaptive PIDcontrol method has satisfactory control effect.