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<p>In the field of exoskeleton joint servo systems, permanent magnet synchronous motors are held in high regard due to their numerous advantages. Nevertheless, the PMSM position control system is inevitably susceptible to modeling errors and load disturbances. To overcome these disturbances, this study constructs an observer based on rotational speed and load torque and optimizes the torque-current loop using a feed-forward compensation mechanism, which significantly improves the system control quality. Furthermore, a super-twisting sliding mode algorithm based on backstepping control is proposed in this paper. This combines the backstepping control method with the super-twisting sliding mode control method to design a composite control law, which effectively suppresses the jitter phenomenon and enhances the fast response capability of the system. Simulation analysis and physical experiments have demonstrated that the proposed method outperforms traditional sliding mode control in terms of hip joint motor following performance of the exoskeleton, with an improvement of nearly 71.43%, and knee joint motor following performance, with an improvement of nearly 85.71%. These results validate the effectiveness of the proposed method.</p>

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Super-Twisting Sliding Mode Control Strategy for Exoskeleton Joint Motor Based on Load Observer

  • 期刊论文

  • 发表日期：

    2025年2月21日

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  • Lang Qin,
  • Zhengrui Jiang,
  • Zhiqin He,
  • Yaohua Yin,
  • Jiaqing Ma,
  • Jinsui Dai,
  • Wei Li,
  • Yang Zhang

摘要

In the field of exoskeleton joint servo systems, permanent magnet synchronous motors are held in high regard due to their numerous advantages. Nevertheless, the PMSM position control system is inevitably susceptible to modeling errors and load disturbances. To overcome these disturbances, this study constructs an observer based on rotational speed and load torque and optimizes the torque-current loop using a feed-forward compensation mechanism, which significantly improves the system control quality. Furthermore, a super-twisting sliding mode algorithm based on backstepping control is proposed in this paper. This combines the backstepping control method with the super-twisting sliding mode control method to design a composite control law, which effectively suppresses the jitter phenomenon and enhances the fast response capability of the system. Simulation analysis and physical experiments have demonstrated that the proposed method outperforms traditional sliding mode control in terms of hip joint motor following performance of the exoskeleton, with an improvement of nearly 71.43%, and knee joint motor following performance, with an improvement of nearly 85.71%. These results validate the effectiveness of the proposed method.