A method for the length-pressure hysteresis modeling of pneumatic artificial muscles

XIE ShengLong; LIU HaiTao; WANG Yu

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A method for the length-pressure hysteresis modeling of pneumatic artificial muscles

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This paper presents a method for the length-pressure hysteresis modeling of pneumatic artificial muscles(PAMs)by using a modified generalized Prandtl-Ishlinskii(GPI)model.Different from the approaches for establishing the GPI models by replacing the linear envelope functions of operators with hyperbolic tangent and exponential envelop functions,the proposed model is derived by modifying the envelope functions of operators into arc tangent functions,which shows an improvement in the modeling accuracy.The effectiveness of the proposed model is verified by the experimental data of a PAM.Furthermore,its capacity in capturing the hysteresis relationship between length and pressure is testified by giving different input pressure signals.With regard to the computational efficiency,the influence of the number of operators on the modeling accuracy is discussed.Furthermore,the inversion of the GPI model is derived.Its capability of compensating the hysteresis nonlinearities is confirmed via the simulation and experimental study.

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来源
《中国科学》 |2020年第5期|P.829-837|共9页
作者
XIE ShengLong; LIU HaiTao; WANG Yu;
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作者单位

School of Mechanical and Electrical Engineering China Jiliang University Hangzhou 310018 China;

Key Laboratory of Mechanism Theory and Equipment Design Ministry of Education Tianjin University Tianjin 300072 China;

Key Laboratory of Mechanism Theory and Equipment Design Ministry of Education Tianjin University Tianjin 300072 China;

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原文格式 PDF
正文语种 chi
中图分类数学分析;
关键词
modified generalized Prandtl-Ishlinskii model; pneumatic artificial muscle; hysteresis; envelope function; control;

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1. MODEL IMPROVEMENT AND EXPERIMENT VALIDATION OF PNEUMATIC ARTIFICIAL MUSCLES [J] . ZhouAiguo ShiGuanglin ZhongTingxiu . 中国机械工程学报：英文版 . 2004,第1期
2. Modeling of Pneumatic Muscle and Braided with Shape Memory Alloy Sleeve [J] . Bin-Rui Wang ,Ying-Lian Jin ,Dong Wei . 国际自动化与计算杂志 . 2010,第003期
3. MODELING AND CONTROLLING OF PARALLEL MANIPULATOR JOINT DRIVEN BY PNEUMATIC MUSCLES [J] . Tao Guoliang ,Zhu Xiaocong ,Cao Jian . 中国机械工程学报 . 2005,第004期
4. Design,Characterization and Optimization of Multi-directional Bending Pneumatic Artificial Muscles [J] . Wei Xiao ,Dean Hu ,Weixiong Chen . 仿生工程学报:英文版 . 2021,第6期
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A method for the length-pressure hysteresis modeling of pneumatic artificial muscles

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