基于软气动执行器的一种新的迟滞补偿模糊动态控制策略

A Novel Hysteresis Compensation Fuzzy Dynamic Control Strategy Based on Soft Pneumatic Actuator

提出了一种新颖的模糊串级控制策略,用于控制波纹管式软气动执行器的动态特性。首先,采用系统辨识方法对软气动执行器进行数学建模。然后,提出了Prandtl-Ishlinskii(P-I)方法来表征复杂的滞后特性。在P-I模型中,使用粒子群优化(PSO)方法识别和推导参数。随后,构建逆P-I模型并将其置于前馈路径中以补偿滞后效应。为了增强系统的适应性,设计了模糊PID控制器,并将其集成到串级策略中,以精确控制软体执行器。跟踪结果的比较进一步表明,设计的模糊PID控制器比传统PID控制器具有更好的控制性能。

A novel fuzzy cascade strategy to control the dynamics of bellow-type soft pneumatic actuators was proposed.First,the soft pneumatic actuators was mathematically modeled using system identification methods.Then,the Prandtl-Ishlinskii(P-I)method was proposed to accommodate and characterize the complex hysteresis effect.In the P-I model,the parameters were identified and derived using aparticle swarm optimization(PSO)method.Subsequently,an inverse P-I model was constructed and placed in the feed-forward path to compensate the hysteresis effect.To enhance the adaptability,FUZZY PID controller was proposed and integrated in the cascade strategy to accurately control the soft pneumatic actuators.The comparison of tracking results has further showed that the proposed FUZZY PID controller has better control performance than traditional PID controllers.