Research of Fuzzy PID Control for Lower Limb Wearable Exoskeleton Robot

摘要

The lower extremity wearable exoskeleton robot has a wide range of application prospects in daily life. In order to realize the good gait control of the exoskeleton robot, an adaptive fuzzy PID control algorithm is proposed. The structure design of the lower extremity exoskeleton robot is based on the SOLIDWORK modeling software. The exoskeleton robot model is established; according to the joint angle changes during normal walking of the human body, the data is fitted as the joint drive motion input; then the lower extremity exoskeleton system is fuzzy PID control algorithm, select the appropriate membership function and establish fuzzy rules to realize the control law of PID parameters; realize the modeling of the control system in Simulink, and establish the joint simulation platform of the lower limb exoskeleton robot system with ADAMS, and verify the model through simulation The correctness and effectiveness of the control strategy.