计及动态负载的气动肌肉驱动器迟滞模型  

The dynamic loads hysteresis model of pneumatic muscle actuator

作　　者：陈志培 谢贤铨 陶志成 朱李垚 鲍官军[1] CHEN Zhipei;XIE Xianquan;TAO Zhicheng;ZHU Liyao;BAO Guanjun(College of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310023)

机构地区：[1]浙江工业大学机械工程学院,杭州310023

出　　处：《高技术通讯》2022年第4期430-440,共11页Chinese High Technology Letters

基　　金：国家自然科学基金(U2013212,51775499);浙江省属高校基本科研业务费专项资金(RF-C2019004);浙江省重点研发计划(2021C04015)资助项目。

摘　　要：气动人工肌肉是一种新型的柔顺性驱动器,但由于采用硅胶等非线性材料而存在明显的迟滞现象,并且其滞环参数随着负载的不同而变化。本文基于广义Prandtl-Ishlinskii迟滞模型,引入气动肌肉的负载参数,建立了计及动态负载的迟滞模型Load-dependent generalized Prandtl-Ishlinskii(LGPI)。在0~100N的负载范围内进行实验,验证了该模型能较好地描述气动肌肉在动态负载作用下的不对称迟滞特性,其滞环回路位置误差最大不超过1mm。将LGPI模型的逆作为PID控制的前馈环节,以控制气动肌肉驱动的机械单指灵巧手手指,在不同负载下进行角度跟踪实验。与无前馈的PID控制实验结果对比分析表明,增加基于LGPI模型的前馈环节能提高控制系统的响应速度和控制精度。Pneumatic artificial muscle is a new type of flexible actuator,but due to the use of non-linear materials such as silica gel,there exists obvious hysteresis,and its hysteresis parameters change with different loads.Based on the generalized Prandtl-Ishlinskii hysteretic model,the load-dependent generalized Prandtl-Ishlinskii(LGPI)model is established by introducing the load parameters of pneumatic muscles.Experiments in the load range of 0-100N verify that the model can describe the asymmetric hysteresis characteristics of pneumatic muscle under dynamic load,and the maximum position error of hysteresis loop is less than 1 mm.Using the inverse of LGPI model as a feedforward PID to control pneumatic muscle-driven dexterous hand,the angle tracking experiment is carried out under different loads.Compared with the PID control without feedforward,the experimental results show that adding the feed-forward loop based on LGPI model can save energy and improve the response speed and control accuracy of the control system.

关 键 词：灵巧手 气动肌肉 Prandtl-Ishlinskii 迟滞 动态负载 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP241[自动化与计算机技术—控制科学与工程] R318[医药卫生—生物医学工程]