研究下肢外骨骼携行助力系统控制问题,利用液压阀控制机理,建立了液压位置控制回路,用PID与超前校正网络相结合的方法进行频域设计,通过对液压控制系统性能试验,对不同负载和不同油源压力以及不同运动模式下液压缸流量和压力进行仿真.仿真结果表明,组合控制方法能够对人正常行走时,膝关节角位移可满足人机协调运动要求.试验结果表明,下肢外骨骼携行助力系统采用阀控液压控制能够满足负载30kg低速平地行走、上下楼梯等动作要求.%On basis of the introduction for the composition of carried-load assistance system and the control mechanism of hydraulic pressure valve for lower extremity exoskeleton, the position control loop was built. The control system was designed by frequency domain method using the P1D parameters combined with lead correction network. According to performance test of hydraulic pressure control system, the flow and pressure in piston were analyzed considering different loads, the pressures of oil box and movable mode. Simulation results show that the control method can servo the angle of knee joint as human' s natural walk as well as the harmonious of man-machine moment. Test results show that hydraulic pressure valve control system can realize efficiently slow walk carrying 30 kilogram load, up and down stairs.
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