基于T-S模糊建模的气动肌肉拮抗关节预测角度控制  

Predictive angular control of pneumatic muscle antagonist joints based on T-S fuzzy modeling

作　　者：张传强 周坤 崔小红 王斌锐 ZHANG Chuanqiang;ZHOU Kun;CUI Xiaohong;WANG Binrui(College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018,China)

机构地区：[1]中国计量大学机电工程学院,浙江杭州310018

出　　处：《中国计量大学学报》2024年第2期222-232,共11页Journal of China University of Metrology

基　　金：浙江省重点研发计划项目(No.2023C03186)。

摘　　要：目的:为了提升气动肌肉拮抗关节的控制精度。方法:提出了一种用于气动肌肉拮抗关节角度跟踪的T-S模糊模型预测控制方法。建立了拮抗关节的T-S模糊模型,并对模型进行了离散化处理;基于离散后的T-S模糊模型,设计了拮抗关节的模型预测控制器,通过特征值法验证了系统的稳定性。结果:仿真实验表明,T-S模糊模型预测控制器跟踪±15°和±10°的角度时,相对于传统模型预测控制,平均绝对误差分别降低了29.05%和44.11%。结论:设计的T-S模糊模型预测控制器提高了气动肌肉拮抗关节的控制精度。Aims:This paper aims to improve the control accuracy of the pneumatic muscle antagonist joint.Methods:A T-S fuzzy model predictive control method for the angle tracking of pneumatic muscle antagonistic joints was proposed.A T-S fuzzy model for antagonistic joints was established and discretized.Based on the discrete T-S fuzzy model,a model predictive controller for antagonistic joints was designed;and the stability of the system was verified through the eigenvalue method.Results:Simulation experiments showed that compared to the traditional model predictive control,the T-S fuzzy model predictive controller reduced the average absolute error by 29.05%and 44.11%when tracking the angle of±15°and±10°,respectively.Conclusions:The proposed T-S fuzzy model predictive controller can improve the control accuracy of pneumatic muscle antagonist joints.

关 键 词：气动肌肉拮抗关节 T-S模糊模型 模型预测控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]