气动肌肉的滑模控制仿真研究
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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 better tracking effect and faster response speed and so on.
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 better tracking effect and faster response speed and so on.
引文
[1]陶国良,谢建蔚,周洪.气动人工肌肉的发展趋势与研究现状[J].机械工程学报,2009,45(10):75~83.
[2]江先志.双向对拉气动肌肉驱动关节的伺服控制及其在康复机器人中的应用[D].武汉:华中科技大学,2011:8~17.
[3]张丹婷.基于气动肌肉的外骨骼上肢助力系统研究[D].杭州:浙江大学,2014:7~62.
[4]隋立明,张立勋.气动肌肉驱动步态康复训练外骨骼装置的研究[J].哈尔滨工程大学学报,2011,32(9):1244~1248.
[5]臧克江.编织型气动人工肌肉工作机理及设计理论研究[D].哈尔滨:东北林业大学,2012:1~92.
[6]Schulte H F.The application external power in prosthetics and orthotics[J].National Research Council Publications,U.S.1961:94.
[7]Ching-Ping Chou,Hannaford B.Sattic and Dynamic characteristics of McKibben Pneumatic Artificial Muscles[J].IEEE,1994(1):281~286.
[8]Ching-Ping Chou,Hannaford B.Measurement and modeling of McKibben pneumatic artificial muscles[J].IEEE Transactions on Robotics and Automation,1996,12(1):90~102.
[9]Pujana-Arrese A,Mendizabal A,Arenas J,etal.Modeling in Modelica and position control of a 1-DOF set-up powered by pneumatic muscles[J].Mechatronics,2010,20(5):535~552.
[10]Tri Vo Minh,Tegoeh Tiahjowidodo.Control of a Pneumatic ArtificialMuscle(PAM)with Model-Based Hysteresis Compensation[J].IEEE/ASME International Conference on Advanced Intelligent Mechatronics,Singapore,2009(7):1082~1087.
[11]Jouppila V,Gadsden S A.Sliding mode control and Filter Applied to a Pneumatic McKibben Muscle Actuator.Proceedings of the ASME 2009International Mechanical Engineering Congress&Exposition.Florida,USA,Nov,13~19,2009.1~9.
[12]Jouppila V,Gadsden S A.Sliding mode control of a pneumatic muscle actuator system with a PWM strategy[J].International Journal of Fluid Power,2014:19~31.
[13]Tondu B,Lopez P.Modeling and control of McKibben artificial muscle robot actuators[J].Control systems,IEEE,2000,20(2):15~38.
[14]吴军.上肢康复机器人及相关控制问题研究[D].武汉:华中科技大学,2012:12~71.
[15]李超.气动肌肉驱动的外骨骼助力系统研究[D].杭州:浙江大学,2016:1~50.
[16]高聪聪.气动人工肌肉关节的滑模变结构控制[D].青岛:青岛大学,2012:2~31.
[17]刘金琨.滑模变结构控制matlab仿真:基本理论与设计方法[M].北京:清华大学出版社,2015:69~74.
[2]江先志.双向对拉气动肌肉驱动关节的伺服控制及其在康复机器人中的应用[D].武汉:华中科技大学,2011:8~17.
[3]张丹婷.基于气动肌肉的外骨骼上肢助力系统研究[D].杭州:浙江大学,2014:7~62.
[4]隋立明,张立勋.气动肌肉驱动步态康复训练外骨骼装置的研究[J].哈尔滨工程大学学报,2011,32(9):1244~1248.
[5]臧克江.编织型气动人工肌肉工作机理及设计理论研究[D].哈尔滨:东北林业大学,2012:1~92.
[6]Schulte H F.The application external power in prosthetics and orthotics[J].National Research Council Publications,U.S.1961:94.
[7]Ching-Ping Chou,Hannaford B.Sattic and Dynamic characteristics of McKibben Pneumatic Artificial Muscles[J].IEEE,1994(1):281~286.
[8]Ching-Ping Chou,Hannaford B.Measurement and modeling of McKibben pneumatic artificial muscles[J].IEEE Transactions on Robotics and Automation,1996,12(1):90~102.
[9]Pujana-Arrese A,Mendizabal A,Arenas J,etal.Modeling in Modelica and position control of a 1-DOF set-up powered by pneumatic muscles[J].Mechatronics,2010,20(5):535~552.
[10]Tri Vo Minh,Tegoeh Tiahjowidodo.Control of a Pneumatic ArtificialMuscle(PAM)with Model-Based Hysteresis Compensation[J].IEEE/ASME International Conference on Advanced Intelligent Mechatronics,Singapore,2009(7):1082~1087.
[11]Jouppila V,Gadsden S A.Sliding mode control and Filter Applied to a Pneumatic McKibben Muscle Actuator.Proceedings of the ASME 2009International Mechanical Engineering Congress&Exposition.Florida,USA,Nov,13~19,2009.1~9.
[12]Jouppila V,Gadsden S A.Sliding mode control of a pneumatic muscle actuator system with a PWM strategy[J].International Journal of Fluid Power,2014:19~31.
[13]Tondu B,Lopez P.Modeling and control of McKibben artificial muscle robot actuators[J].Control systems,IEEE,2000,20(2):15~38.
[14]吴军.上肢康复机器人及相关控制问题研究[D].武汉:华中科技大学,2012:12~71.
[15]李超.气动肌肉驱动的外骨骼助力系统研究[D].杭州:浙江大学,2016:1~50.
[16]高聪聪.气动人工肌肉关节的滑模变结构控制[D].青岛:青岛大学,2012:2~31.
[17]刘金琨.滑模变结构控制matlab仿真:基本理论与设计方法[M].北京:清华大学出版社,2015:69~74.