气动人工肌肉驱动关节PID位置控制  

Investigation on PID Position Control of Joint Actuated by Pneumatic Artificial Muscles

作　　者：李继磊[1] 韩建海[1] 赵书尚[1] 张艳艳[1] 

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003

出　　处：《河南科技大学学报（自然科学版）》2008年第3期63-66,共4页Journal of Henan University of Science And Technology:Natural Science

基　　金：河南省自然科学基金项目(0311053400)

摘　　要：气动人工肌肉是一种由气压驱动的收缩型气动执行器,由气动人工肌肉驱动的人工关节具有重量轻、柔顺性好等特点。由于人工肌肉存在着明显的非线性、滞环大等缺点,对其位置控制有一定的难度,必须采取适当的控制策略才能得到较高的控制精度。本文介绍了一种以人工肌肉驱动关节为控制对象的位置控制系统,通过PID控制算法实现位置闭环控制。实验结果验证了控制策略的有效性,为气动人工肌肉驱动关节的应用打下基础。Pneumatic artificial muscles (PAM) is a kind of actuator using compressed air as actuating medium.The joint actuated by pneumatic artificial muscles has the characteristics of light weight and good character of pliancy.Pneumatic artificial muscles has the obvious demerit like nonlinear,sluggish and so on.It′s difficult to control its position.In order to improve its control precision,some control strategy is used.Investigation on position control of joint actuated by pneumatic artificial muscles is presented,and this investigation implements the joint′s position track by PID control.The experimental result is effective to validate the strategy of control.This work is useful for the joint actuated by pneumatic artificial muscles.

关 键 词：人工肌肉 关节 位置控制 PID控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TH137.51[自动化与计算机技术—控制科学与工程]