Approach of driving system for lower limb rehabilitation training robot based on strong tracking filtering

摘要

To solve the problem of lowering the control accuracy of the robotic servo system of lower limb rehabilitation training due to inaccurate models and load disturbances, this paper takes the one degree of freedom(DOF) lower limb rehabilitation training robot servo system as the research object, and establish a mathematical model of the servo system of the lower limb rehabilitation training robot including several subsystems such as the execution system, feed system and drive system. A control algorithm for driving system of lower limb rehabilitation training robot based on strong tracking filter(STF) is adopted. Through simulation analysis, the stability of STF algorithm is compared, which shows that the proposed algorithm has the advantages of fast tracking speed, noise suppression and high accuracy. The experimental results further show that the established servo system model of the lower limb rehabilitation training robot matches the actual nonlinear system model. The STF algorithm has better tracking ability, high control accuracy and smoother operation. The research results provide a reference for the research on the servo system of lower limb rehabilitation equipment.