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Iterative-feedback-setting-based tracking control method for pneumatic artificial muscle joint

A pneumatic artificial muscle, tracking control technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of difficult to accurately determine the controller parameters, hysteresis and creep, etc., to achieve high-precision tracking, The effect of strong applicability and fast convergence speed

Active Publication Date: 2019-03-01
JIANGNAN UNIV
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Problems solved by technology

But on the other hand, due to the inherent structural characteristics of the pneumatic artificial muscle joint, it will produce nonlinear phenomena such as hysteresis and creep during the movement process, making it difficult to accurately determine the parameters of the controller

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  • Iterative-feedback-setting-based tracking control method for pneumatic artificial muscle joint
  • Iterative-feedback-setting-based tracking control method for pneumatic artificial muscle joint
  • Iterative-feedback-setting-based tracking control method for pneumatic artificial muscle joint

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Embodiment Construction

[0035] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0036] This application discloses a tracking control method based on iterative feedback tuning for pneumatic artificial muscle joints. For the physical model diagram of pneumatic artificial muscle joints in this application, please refer to figure 1 , the pneumatic artificial muscle joint includes a pair of antagonistic pneumatic artificial muscles (respectively named pneumatic artificial muscle 1 and pneumatic artificial muscle 2) and a timing pulley controlled by the pair of antagonistic pneumatic artificial muscles, the timing pulley connects and drives the joint rod , assuming that the length of the joint rod is l b , the length from the center of mass of the joint rod to the rotation axis is l c , the mass of the articulated rod is m. A load is applied to the end of the articulated rod, figure 1 The load, which has a mass M, is not s...

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Abstract

The invention, which relates to the field of intelligent control, discloses an iterative-feedback-setting-based tracking control method for a pneumatic artificial muscle joint. Under framework of a PID control strategy, on the basis of the basic principle of an IFT algorithm, a parameter optimization theory and an iterative feedback setting algorithm, controller parameters of the PID controller are automatically set according to a tracking performance criterion function of a closed-loop system and input and output signals; and optimal values of the controller parameters are obtained based on aGauss-Newton algorithm, so that the high-precision tracking of the desired trajectory is realized.

Description

technical field [0001] The invention relates to the field of intelligent control, in particular to a tracking control method based on iterative feedback setting of pneumatic artificial muscle joints. Background technique [0002] Pneumatic artificial muscle joints perform specified actions through the contraction and expansion of airbags. Compared with traditional drives, they not only have the advantages of low cost, clean, and easy installation of pneumatic transmission technology, but also have higher power / mass ratio and natural compliance. It has similar mechanical properties to biological muscles, so it has been widely used in many fields such as rehabilitation physiotherapy devices and bionic robots, among which the most widely used is the MicKibben type pneumatic artificial muscle. But on the other hand, due to the inherent structural characteristics of the pneumatic artificial muscle joint, it will produce nonlinear phenomena such as hysteresis and creep during the ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陶洪峰刘巍李健
Owner JIANGNAN UNIV
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