基于改进Maxwell迟滞模型的气动肌腱精确力模型  

Aerodynamic Tendon Precision Model Based on Improved Maxwell Hysteresis Model

作　　者：黄扬辉 朱坚民[1] 孟聪 石园园 陈琳[1] Huang Yanghui;Zhu Jianmin;Meng Cong;Shi Yuanyuan;Chen Lin(University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学,上海市200093

出　　处：《农业装备与车辆工程》2021年第1期61-66,共6页Agricultural Equipment & Vehicle Engineering

摘　　要：针对现有定参数Maxwell模型对气动肌腱压力/长度非对称迟滞特性力模型精度较低问题,提出非对称变参数型Maxwell迟滞模型方法。构造变刚度滑块算子替代原定刚度滑块算子来辨识某一等压下非对称迟滞模型参数,再结合不同等压、工作长度条件下的迟滞特性差异,动态加权辨识迟滞模型参数,满足不同等压、工作长度的非对称迟滞情况。以FESTO公司MAS型气动肌腱为研究对象,通过不同等压、长度实验对比经典Maxwell和改进型Maxwell力模型精度:卸载误差最大降低了80%,最大相对误差由20%降低到5%,整体相对误差稳定在5%以内,误差波动更为平稳,不同气压下精度提高到了99.98%。实验结果表明,改进型Maxwell迟滞力模型精度均显著优于经典Maxwell,更能够精确捕捉到气动肌腱固有的非对称迟滞特性和不同长度下的次环。Aiming at the low accuracy of the existing fixed-point Maxwell model for the aerodynamic tendon pressure/length asymmetric hysteresis force model,an asymmetric variable parameter Maxwell hysteresis model method is proposed.The variable stiffness slider operator is used to replace the original stiffness slider operator to identify the parameters of the asymmetric hysteresis model under certain isobaric pressure,and then combine the hysteresis characteristics under different isobaric and working length conditions to dynamically weight the hysteresis model parameters.Asymmetric hysteresis for different equal-pressure working lengths.Taking FESTO MAS-type pneumatic tendon as the research object,the accuracy of the classic Maxwell and the improved Maxwell force model was compared by different isobaric and length experiments:the maximum unloading error was reduced by 80%,and the maximum relative error was reduced from 20%to 5%.The error is stable within 5%,the error fluctuation is more stable,and the accuracy is increased to 99.98%at different pressures.The experimental results show that the improved Maxwell hysteresis force model is significantly better than the classic Maxwell,and it can accurately capture the inherent asymmetry hysteresis characteristics of the pneumatic tendon and the sub-rings of different lengths.

关 键 词：气动肌腱 非对称Maxwell 非线性系统 迟滞环 次环 

分 类 号：TP215[自动化与计算机技术—检测技术与自动化装置]