The invention relates to a lower limb exoskeleton bracket self-balancing system based on a permanent magnet bearingless motor. The lower limb exoskeleton bracket self-balancing system comprises a permanent magnet bearingless motor, a lower limb exoskeleton bracket, an angular motion detection device, a controller and a power source, wherein the permanent magnet bearingless motor is connected with the lower limb exoskeleton bracketthrough a connecting rod, the controller is electrically connected with the angular motion detection device and the power source, the power source is further electrically connected with the stator side of the permanent magnet bearingless motor, the angular motion detection device is used for detecting angular momentum needed to be generated when a user wearing the lower limb exoskeleton bracket topples and needs to lean on the lower limb exoskeleton bracket and sending the angular momentum to the controller, the controller controls the power source to provide current for the permanent magnet bearingless motor when receiving the angular momentum, when the permanent magnet bearingless motor is connected with current, the rotor provides angular momentum needed in the axial direction for the lower limb exoskeleton bracket by changing the speed, and then bracket is provided when a user topples over and needs to rely on the lower limb exoskeleton bracket, so that the gravity center balance of the whole system is maintained, and the autonomous action ability of the user is improved.
Lower limb exoskeleton bracket self-balancing system based on permanent magnet bearingless motor