基于实验模型的气动人工肌肉位置控制研究

Empirical Model Based Study in Position Control of Pneumatic Artificial Muscle

针对目前气动人工肌肉数学模型建模过程较为复杂的问题,提出一种气动人工肌肉的实验模型辨识方法。以气动人工肌肉-质量系统为实验对象,对其输入气压与气动肌肉收缩量之间的关系模型进行实验辨识研究。采用欠阻尼二阶系统来描述气动人工肌肉充气与排气过程的动态响应,并利用实验数据对模型参数进行辨识。最后基于辨识得到的模型进行气动人工肌肉的位置控制,实验结果验证了模型的有效性。

Mathematically modelling of pneumatic artificial muscles is a quite difficult issue at present. Aimed at it, an experi-ment identification method of pneumatic artificial muscles is proposed. Taking pneumatic artificial muscle-mass system as the study sub-ject, the model of relationship between the input air pressure and the muscle contraction was investigated by an identification experi-ment. The dynamic responses of pressurizing and depressurizing processes of the pneumatic artificial muscle were regarded as under-damped second-order systems. Then the model parameters were identified using the data in experimental measurements. Finally theidentified models are used for the position control of a single pneumatic artificial muscle. The validity of the models is verified by exper-iments.