Studying of Copying Control System with Nonlinear Measurer

The article is devoted to the development and mathematical modeling of the exoskeleton suit femoral link copying control system. The material discusses various approaches to ensuring the master and slave links movement synchronization in a human–machine system and minimizing the efforts of interaction between them. To control the force between the links, an original design measurer with nonlinear mechanical properties is used. On the proposed criterion for assessing the regulation quality basis, an analysis of the applicability of various methods for the copying control task is carried out. To compensate the feedback loop nonlinear effects, it is proposed to use a corrective action block, the parameters of which are determined experimentally. As the numerical simulations results shown, the control system with a correcting device usage makes it possible to obtain the exoskeleton suit drive system movement required parameters executive link. Integral error values less than 0.7% of the amplitude for the system studied parameters.