摘要
为得到较为精确的气动肌肉数学模型,搭建了气动肌肉特性分析实验平台,对实验数据进行拟合得到了气动肌肉数学模型。对单根气动肌肉固定负载进行了动力学分析,得到系统状态空间模型,进行滑模控制研究,并进行了气动肌肉滑模控制仿真分析。仿真结果表明:采用滑模控制具有较好的跟踪效果及较快的响应速度等特点。
In order to obtain a more accurate mathematical model of pneumatic muscles, this paper set up an experimental platform for the analysis of the characteristics of pneumatic muscle and obtained a mathematical model of pneumatic muscle through fitting models with experimental data. The dynamic analysis of the fixed load of a single pneumatic muscle was carried out to obtain the state space model. The sliding mode control studies as well as the simulation analysis of the pneumatic muscle sliding mode control were carried out. The simulation results indicated that the sliding mode control has the advantages of hetter tracking effect and faster response speed and so on.
作者
张猛
韩亚丽
朱松青
沈培
吴振宇
Zhang Meng;Han Yali;Zhu Songqing;Shen Pei;Wu Zhenyu(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing,Jiangsu 211167,China)
出处
《绿色科技》
2018年第16期263-267,共5页
Journal of Green Science and Technology
基金
国家自然科学基金资助项目(编号:51205183)
江苏省六大人才高峰资助项目(编号:JXQC-015)
关键词
气动肌肉
静态分析
系统状态空间
滑模控制
仿真研究
pneumatic artificial muscle
static analysis
system state space
sliding mode control
simulation study
