一种拮抗式气动肌肉驱动柔性关节的动态面控制

Dynamic Surface Control of a Flexible Joint Driven by an Antagonistic Pneumatic Muscle

为了解决拮抗式气动肌肉驱动关节的控制精度差、抗干扰能力弱以及外部扰动等问题,本文从气动肌肉驱动力模型出发,将气压、气体流率等因素纳入该模型,在该模型基础上采用了动态面控制方法,通过积分滤波器对虚拟控制的导数进行计算以达到消除微分项的膨胀,简化了控制过程,同时还根据K-观测器对柔性关节位置进行跟踪控制。实验结果表明,在该控制下关节具有良好的稳态性能,能够满足关节的安全性、柔顺性等要求。

In order to solve the problems such as poor control precision,weak anti-interference ability and external disturbance of the driving joint of antagonistic pneumatic muscle,this paper starts from the driving force model of pneumatic muscle,and includes factors such as air pressure and gas flow rate into the model.On the basis of the model,dynamic surface control method is adopted to calculate the derivative of virtual control through integral filter to eliminate the expansion of differential terms.The control process is simplified,and the position of the flexible joint is tracked and controlled according to the K-observer.The experimental results show that the joint has good steady-state performance under this control,and can meet the requirements of joint safety and flexibility.