Simulation Study Of Fuzzy AdaptivePID In The Lower Limb Exoskeleton Power Leg

The lower limb exoskeleton power leg is worn by humans, and can provide the auxiliary bearing of the robot system. It is the integration of a variety of high-tech, involves disciplines such as mechanical and electrical engineering, automatic control, bio-engineering and artificial intelligence. It’s one of the popular research fields in recent years. According to the control technology of individual solider lower extremity exoskeleton system, following contents are mainly studied in this paper.First of all, this paper compares the current research status of the lower limb exoskeleton power leg at home and abroad, analysis the research trend of the lower limb exoskeleton power leg. And then choose the right concept for the design concept of this system. This paper gives a brief overview of the five parts which makes up the lower limb exoskeleton power leg, mainly includes mechanical system, driving system, sensor perceptual system and energy system. In this paper, the choice of drive system and the design of sensor perceptual system are elaborated.Next, this paper chooses hydraulic system as drive system of the lower limb exoskeleton power leg. Subsequently infer the transfer functions of the system’s servo valve, hydraulic cylinder, and other links respectively. On this basis, use the related data of the hydraulic system components to establish mathematical model so that provide theoretical basis for the specific analysis.Then, in connection with specific study object, this paper respectively uses the conventional PID control algorithm and the fuzzy adaptive PID control algorithm to analysis the lower limb exoskeleton power leg. The simulation results show that the fuzzy adaptive PID control algorithm has virtues such as less overshoot, good stability, short transition time, high control precision, good dynamic performance and static performance. Above all, the fuzzy adaptive PID control is obviously superior to the conventional PID control.Finally, give a proposed scheme of the lower limb exoskeleton power leg and a certain direction for the later research.