基于Maxwell改进模型的气动人工肌肉迟滞特性  

Hysteresis characteristics of pneumatic artificial muscle based on improved Maxwell model

作　　者：张业明[1,2] 金公华 石岩 虞启辉[4] 孔德民[1] 和双洋 ZHANG Yeming;JIN Gonghua;SHI Yan;YU Qihui;KONG Demin;HE Shuangyang(School of Mechanical and Power Engineering,Henan Polytechnic University,Jiaozuo 454000,China;State Key Laboratory of Fluid Power&Mechatronic Systems,Zhejiang University,Hangzhou 310058,China;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China;School of Mechanical Engineering,Inner Mongolia University of Science and Technology,Baotou 014010,China)

机构地区：[1]河南理工大学机械与动力工程学院,焦作454000 [2]浙江大学流体动力与机电系统国家重点实验室,杭州310058 [3]北京航空航天大学自动化科学与电气工程学院,北京100191 [4]内蒙古科技大学机械工程学院,包头014010

出　　处：《北京航空航天大学学报》2024年第12期3686-3695,共10页Journal of Beijing University of Aeronautics and Astronautics

基　　金：北京高等学校卓越青年科学家计划(BJJWZYJH01201910006021);流体动力与机电系统国家重点实验室开放基金课题(GZKF-202016);基础计划加强重点基础研究项目子课题(2019-JCJQ-ZD-120-13);河南省科技攻关计划(202102210081,212102210050);河南理工大学研究生教育教学改革项目(2021YJ04)。

摘　　要：针对气动人工肌肉非线性程度高、迟滞模型建立困难的问题,研究了气动人工肌肉的迟滞特性,提出了一种基于滑移算子的改进Maxwell模型。搭建了气动人工肌肉的收缩力测试平台,进行了静态力实验和动态力实验,得到了气动人工肌肉的迟滞力曲线,并分别考虑了不同行程、不同充气压力和不同伸缩速率对迟滞环的影响,得到了气动人工肌肉的各项迟滞特性。针对传统Maxwell模型无法很好地表现气动人工肌肉的非对称迟滞特性,将迟滞力曲线分别从上部和下部收缩,得到的各项算子较好地表现了气动人工肌肉收缩力曲线的非局部记忆性和非对称性,将最大误差控制在了6.8%以内,中段误差控制在了2.0%以内,较好地匹配了实验曲线,验证了所提模型的普适性。In view of the high nonlinearity of pneumatic artificial muscle and the difficulty in establishing a hysteresis model,the hysteresis characteristics of pneumatic artificial muscle were studied,and an improved Maxwell model based on slip operator was proposed.First of all,the contraction force test platform of pneumatic artificial muscle was set,on which the static force experiment and dynamic force experiment were carried out.The hysteresis force curve of the pneumatic artificial muscle was obtained,and the effects of different strokes,different inflation pressures,and different expansion rates on the hysteresis loop were considered respectively.The hysteresis characteristics of the pneumatic artificial muscle were obtained.Then,since the traditional Maxwell model could not represent the asymmetrical hysteresis characteristics of pneumatic artificial muscle very well,the hysteresis curves were contracted from the upper and lower parts,respectively,and the obtained operators could represent the non-local memory and asymmetry of the contraction curves of the pneumatic artificial muscle better.The maximum error was controlled within 6.8%,andthe error of the middle section was controlled within 2.0%,matching the experimental curve well and verifyingthe universality of the model.

关 键 词：气动人工肌肉 数据采集 迟滞特性 Maxwell模型 参数辨识 

分 类 号：TH138[机械工程—机械制造及自动化] TP273.1[自动化与计算机技术—检测技术与自动化装置]