智能软体驱动器的跟踪控制器设计

Design of Control Tracking for Intelligent Software Actuator

以一种单腔双向弯曲软驱动器为研究对象,提出了一种软驱动器跟踪控制器的设计方法。通过系统辨识的方法将被控对象的非线性数学模型辨识为线性模型,并将线性模型作为被控对象,在控制框图中加入寻优模块,确定一组最优的参数,即为跟踪控制器的参数。最后,通过系统的仿真实验验证了跟踪控制器的可行性和有效性。

Taking a kind of single-cavity bidirectional curved soft driver as the research object,a new design method of the soft-drive tracking controller is proposed.Through the method of system identification,the non-linear mathematical model of the controlled object is identified as the linear model,and the linear model is taken as the controlled object.The optimal block is added into the control block diagram to determine a set of optimal parameters,that is,the parameters of the tracking controller.Finally,the feasibility and effectiveness of the tracking controller are verified through systematic simulation.