Acceleration control method for load on powered backpack based on disturbance observer

An acceleration control method for a load on a powered backpack based on a disturbance observer, comprising the following steps:

• S1 setting a desired acceleration of the load on the powered backpack, presetting an initial motor drive current according to the desired acceleration, and the load begins to move under driving of the initial motor drive current, and measuring the actual acceleration of the load;
• S2 establishing the disturbance observer for acceleration control of the load on the powered backpack, and utilizing the disturbance observer to calculate a motor drive current that makes an actual acceleration of the load to be equal to the desired acceleration, thereby achieving acceleration control of the load on the powered backpack, wherein the disturbance observer is operated according to the following calculation formula:
• io=icmd−iD+if
• wherein io is the motor drive current, icmd is a command drive current, that is, the sum of command currents generated by feedback control and feedforward control, iD is a corresponding drive current overcoming the disturbance, and if is a friction compensation current, that is, a drive current required to eliminate the influence of a friction force.