基于改进J-A模型的气动肌肉迟滞建模及其补偿控制

Hysteresis Modeling Based on Improved J-A Model and Compensation Control for Pneumatic Muscle

针对气动肌肉非对称迟滞现象,采用改进Jiles-Atherton(J-A)模型来对其进行描述,并利用自适应权重粒子群来对模型所需参数进行辨识;通过与实验数据进行对比,对所建模型精度进行验证。基于所建迟滞模型,进而提出一种积分逆迟滞补偿器,通过将其引入到PID控制系统中,实现对气动肌肉的迟滞补偿控制。仿真结果表明,引入迟滞补偿器后显著提高了对气动肌肉的控制精度,验证了所提迟滞补偿器的有效性。

For asymmetric hysteresis characteristics of a pneumatic muscle, an improved J-A model is used for describing this phenomenon. The required parameters of the model are identified by a self-adaptive weight particle swarm optimization method. By comparing with the isotonic experimental data, we verify accuracy of the improved J-A model. Based on the improved J-A model,an integral inverse hysteresis compensator is designed and introduced into the PID control system, and then we can build a hysteresis compensation control system for pneumatic muscle. The simulation results show that control accuracy of the control system for pneumatic muscle is improved significantly after the compensator is introduced, which proves the effectiveness of the proposed hysteresis compensator.