A multi-mode dynamic loading control system and control method for waist protection equipment in microgravity environments

Abstract

The application discloses a kind of multi-mode dynamic loading control system and control method for microgravity environment waist protection equipment, comprising: wearing module, loading module and control module;Wearing module includes shoulder strap, waistband and leg belt, for fixing system to human body trunk;Loading module includes four independently controlled pneumatic artificial muscles, the upper end of each pneumatic artificial muscle is connected with shoulder strap by connecting piece, and the lower end is connected with waistband by connecting piece;Control module includes micro air pump, proportional pressure valve, single-chip microcomputer and power supply;Micro air pump as gas source;Multiple proportional pressure valves, the number is same with the number of pneumatic artificial muscle, the gas inlet of each proportional pressure valve is communicated with the gas outlet of micro air pump, and the gas outlet of each proportional pressure valve is communicated with the gas inlet of a corresponding pneumatic artificial muscle;Proportional pressure valve is built-in with air pressure sensor, for real-time measurement output air pressure and generating feedback voltage signal;Single-chip microcomputer is electrically connected with micro air pump, the control end and feedback end of multiple proportional pressure valves.The application can meet the environment of space station light weight, low noise, high reliability requirement.

Description

Technical Field

[0001] This invention relates to the field of health protection technology for astronauts in microgravity environments, and in particular to a multi-mode dynamic loading control system and control method for waist protection equipment in microgravity environments. Background Technology

[0002] Prolonged exposure to microgravity can lead to serious health problems in astronauts' lumbar musculoskeletal system. Studies have shown that in microgravity, the axial force on the lumbar intervertebral discs decreases by more than 60% compared to Earth, water content increases abnormally, and the muscle strength of the major paravertebral muscles decreases by approximately 80%. Data from the International Space Station shows that more than 50% of astronauts experience lower back pain, and the incidence of lumbar disc herniation is 4.3 times higher than in the Earth-based control group.

[0003] Currently, the exercise equipment provided to astronauts on space stations both domestically and internationally mainly includes bicycle strength gauges, treadmills, and resistance training equipment. However, these devices are not particularly targeted at the lumbar musculoskeletal system, resulting in limited training effects. While gravity-loaded protective suits can simulate Earth's gravity load to provide axial loads to the spine, their loading mode is singular, providing only fixed static loads and unable to apply the more effective dynamic loads. Numerous studies have shown that dynamic loads, compared to static loads, produce more significant positive training effects on bones, muscles, and intervertebral discs, and the strengthening effect on bone formation becomes more pronounced as the frequency of dynamic loads increases.

[0004] Existing technologies include several control systems for combat training equipment based on pneumatic artificial muscles. However, these systems offer limited loading modes, only capable of basic static or simple dynamic loading. They lack the ability to provide various dynamic loading modes with adjustable waveforms and frequencies, and cannot achieve multi-functional combined loading of axial compression and lateral bending by independently controlling multiple muscles. Furthermore, existing systems lack PID parameter tuning schemes for different loading modes and controlled objects, resulting in room for improvement in control accuracy and adaptability.

[0005] Therefore, developing a control system for waist protection equipment that can achieve dynamic, multi-mode, multi-functional loading, precise control, and lightweight design is of great significance for ensuring the health of astronauts during long-term on-orbit operations. Summary of the Invention

[0006] Purpose of the invention: This invention provides a multi-mode dynamic loading control system and control method for waist protection equipment in microgravity environments, which can meet the requirements of lightweight, low noise, and high reliability of space stations.

[0007] Technical solution: The present invention provides a multi-mode dynamic loading control system for waist protection equipment in microgravity environments, comprising: a wearable module, a loading module, and a control module;

[0008] The wearable module includes shoulder straps, waist belt, and leg straps, which are used to fix the system to the human torso. The leg straps serve as anti-float fixation points in microgravity environments. When the pneumatic artificial muscles contract to generate an upward pulling force, the leg straps transfer the force to the thighs to prevent the astronaut's torso from slipping upwards and ensure that the loading force is effectively transmitted along the spinal axis.

[0009] The loading module includes four independently controlled pneumatic artificial muscles. The upper end of each pneumatic artificial muscle is connected to the shoulder strap via a connector, and the lower end is connected to the waist belt via a connector.

[0010] The control module includes a miniature air pump, proportional pressure valves, a microcontroller, and a power supply. The miniature air pump serves as the air source. Multiple proportional pressure valves, the same number as the pneumatic artificial muscles, are used; the air inlet of each proportional pressure valve is connected to the air outlet of the miniature air pump, and the air outlet of each proportional pressure valve is connected to the air inlet of a corresponding pneumatic artificial muscle. Each proportional pressure valve has a built-in pressure sensor for real-time measurement of output pressure and generation of feedback voltage signals. The microcontroller is electrically connected to the control and feedback terminals of the miniature air pump and the multiple proportional pressure valves. The power supply provides power to all electrical components.

[0011] Furthermore, the shoulder straps are made of ultra-high molecular weight polyethylene fiber nonwoven fabric, and the waist belt and leg straps are equipped with adjustable buckles. The connectors are stainless steel metal rings, and the metal rings are fixed to the pneumatic artificial muscles by threads.

[0012] Furthermore, the control module also includes a housing for housing the micro air pump, proportional pressure valve, microcontroller, and power module; the housing is equipped with a cooling fan, and the micro air pump is wrapped with shock-absorbing foam; the dimensions of the housing are 265 mm long, 185 mm wide, and 105 mm high.

[0013] Furthermore, the microcontroller is an Arduino microcontroller; the proportional pressure valve is a VEAB series proportional valve, whose control voltage and output air pressure satisfy a linear relationship P. out = 120*Uin, where P out The unit is kPa, U in The unit is V; the pneumatic artificial muscle is the DMSP series, and its output tension at a constant length is linearly proportional to the internal air pressure.

[0014] Accordingly, a multi-mode dynamic loading control method for waist protection equipment in microgravity environments includes the following steps:

[0015] Step 1: Initialize the system, start the micro air pump, and initialize the microcontroller to make the output air pressure of each proportional pressure valve zero.

[0016] Step 2: Set the loading mode, loading function, amplitude, and frequency; the loading mode can be static loading mode, sinusoidal dynamic loading mode, or stepped dynamic loading mode; the loading function can be axial compression, left bend, or right bend.

[0017] Step 3: Generate the target air pressure waveform for each pneumatic artificial muscle according to the settings. ;

[0018] Step 4: Perform closed-loop PID control independently for each pneumatic artificial muscle, collect the actual air pressure feedback from the proportional pressure valve in real time, call the corresponding PID parameters, calculate the control quantity and output the control voltage to the proportional pressure valve, so that the actual air pressure tracks the target waveform.

[0019] Step 5: The proportional pressure valve outputs gas at the corresponding pressure according to the control voltage to the pneumatic artificial muscle. The pneumatic artificial muscle contracts to generate tension, and the training load is applied to the astronaut's waist through the wearable module.

[0020] Step 6: During the training process, dynamically switch the loading mode, amplitude, or frequency parameters according to user instructions, and return to step 3.

[0021] Furthermore, in step 2, the loading function is selected by setting the target air pressure of each pneumatic artificial muscle: when the target air pressure of the four pneumatic artificial muscles is equal, the axial compression loading function is realized; when the target air pressure of the left pneumatic artificial muscle is higher than that of the right pneumatic artificial muscle, the left bending loading function is realized; when the target air pressure of the right pneumatic artificial muscle is higher than that of the left pneumatic artificial muscle, the right bending loading function is realized.

[0022] By symmetrically distributing four independently controlled pneumatic artificial muscles, the astronaut can achieve three loading functions—axial compression, left-side bending, and right-side bending—by setting the difference in target air pressure for each muscle without changing their body position. These functions can be switched in real time, which overcomes the deficiency of existing penguin suits that can only provide symmetrical static loads.

[0023] Furthermore, in step 3, the target air pressure waveform P target (t)=P0 + Where P0 is the reference air pressure, A is the amplitude, and f is the frequency; the adjustable range of frequency f is 0.025 Hz to 0.2 Hz, and the amplitude range of the target air pressure is 50 kPa to 250 kPa.

[0024] The loading parameters were determined based on the microgravity biomechanical model: the target air pressure range (50kPa~250kPa) and dynamic frequency range (0.025Hz~0.2Hz) of the loading module were calculated based on the simulation results of the inverse dynamics of human lumbar vertebrae and muscles under microgravity (the optimal axial load is 130N, corresponding to about 100kPa for a single muscle, with a margin) combined with the linear relationship between the tension and air pressure of the pneumatic artificial muscle.

[0025] Furthermore, the target air pressure waveform in the stepped dynamic loading mode includes the following stages sequentially within one cycle: a first low amplitude holding stage, a first linear rise stage from the first low amplitude to the first high amplitude, a first high amplitude holding stage, a second linear rise stage from the first high amplitude to the second high amplitude, a second high amplitude holding stage, a first linear fall stage from the second high amplitude to the first high amplitude, a first high amplitude holding stage, and a second linear fall stage from the first high amplitude to the first low amplitude; the period of the stepped waveform is adjustable from 20s to 40s.

[0026] Furthermore, in step 4, based on the current loading mode and the number of pneumatic artificial muscles being controlled, the corresponding pre-stored PID parameters are invoked for control; the real-time air pressure value P fed back from the proportional pressure valve corresponding to the muscle is read. feedback (t); Calculate the control deviation e(t) = P target (t) - P feedback (t); Calculate the control quantity u(t) = K according to the PID control formula. p e(t)+K I + The output control voltage, which is proportional to the control quantity u(t), is sent to the corresponding proportional pressure valve to adjust its output air pressure.

[0027] Furthermore, when the controlled object is a single pneumatic artificial muscle and the loading mode is static, K is called. P =1.5, K I =0.001, K D =0.0005; When the controlled object is a single pneumatic artificial muscle and the loading mode is sinusoidal dynamic, call K. P =0.8, K I =0.0082, K D =0.0005; When the controlled object is a single pneumatic artificial muscle and the loading mode is stepped dynamic, call K. P =1.55, K I =0.005, K D =0.0005; When the controlled object is multiple pneumatic artificial muscles and the loading mode is static, call K. P=1.5, K I =0.001, K D =0.0020; When the controlled object is multiple pneumatic artificial muscles and the loading mode is sinusoidal dynamic, call K. P =0.78, K I =0.0050, K D =0.0015.

[0028] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0029] Multi-type dynamic loading: This invention breaks through the limitation of existing protective equipment that can only provide static loads. It can accurately output two types of dynamic air pressure, namely sine wave and stepped wave, to provide astronauts with dynamic loads with adjustable amplitude (50-250 kPa) and frequency (0.025-0.2 Hz) for their waist. The training effect is better than that of static loading.

[0030] Multifunctional combination training: By independently controlling four symmetrically distributed pneumatic artificial muscles, it can flexibly realize the combination and switching of various loading functions such as axial compression and left / right bending, and can conduct targeted training for different muscle groups in the waist.

[0031] High control precision and fast response: It adopts a closed-loop control system based on PID algorithm, combined with the precise execution capability of proportional pressure valve, and through a large number of experiments, the optimal PID parameters for different loading modes and controlled objects are determined, realizing fast and accurate control of air pressure, with excellent dynamic waveform tracking effect;

[0032] High degree of engineering: It provides a complete physical packaging solution for the control system, including equipment box size, air pump vibration and noise reduction treatment, heat dissipation design, etc., which meets the space station's requirements for lightweight, low noise and high reliability of equipment;

[0033] Adjustable parameters and wide adaptability: Users can freely adjust the amplitude and frequency of the load according to their own physical parameters and training needs to achieve personalized training programs.

[0034] High adaptability to microgravity environment: This invention designs engineering measures such as anti-float fixation of leg straps, shock absorption and noise reduction encapsulation, and multiple independent air channels for the special working conditions of space stations, and determines the range of loading parameters through a microgravity skeletal biomechanical model; it has been verified that this system can stably output preset dynamic waveforms and the noise during operation is less than 55 dBA, which meets the strict limitations of manned spacecraft on equipment. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the system structure of the present invention.

[0036] Figure 2This is a schematic diagram of the control principle of the present invention.

[0037] Figure 3(a) shows the effect of air pressure (amplitude of 100kPa) control in the static loading mode of the present invention.

[0038] Figure 3(b) shows the effect of air pressure (amplitude of 150 kPa) control in the static loading mode of the present invention.

[0039] Figure 3(c) shows the effect of air pressure (amplitude of 200 kPa) control in the static loading mode of the present invention.

[0040] Figure 3(d) shows the effect of air pressure (amplitude of 250 kPa) control in the static loading mode of the present invention.

[0041] Figure 4(a) shows the air pressure (T=20s) control effect of the sinusoidal dynamic loading mode implemented in this invention.

[0042] Figure 4(b) shows the air pressure (T=30s) control effect of the sinusoidal dynamic loading mode implemented in this invention.

[0043] Figure 5(a) shows the effect of air pressure (amplitude 150-70kPa, T=20s) control under the stepped dynamic loading mode implemented in this invention.

[0044] Figure 5(b) shows the effect of air pressure (amplitude 150-70kPa, T=40s) control under the stepped dynamic loading mode of the present invention.

[0045] Figure 5(c) shows the control effect of air pressure (amplitude 170-80kPa, T=40s) in the stepped dynamic loading mode of the present invention. Detailed Implementation

[0046] A multi-mode dynamic loading control system for waist protection equipment in microgravity environments includes: a wearable module, a loading module, and a control module;

[0047] The wearable module includes shoulder straps, a waist belt, and leg straps, used to secure the system to the human torso;

[0048] The loading module includes four independently controlled pneumatic artificial muscles. The upper end of each pneumatic artificial muscle is connected to the shoulder strap via a connector, and the lower end is connected to the waist belt via a connector.

[0049] The control module includes a miniature air pump, proportional pressure valves, a microcontroller, and a power supply. The miniature air pump serves as the air source. Multiple proportional pressure valves, the same number as the pneumatic artificial muscles, are used; the air inlet of each proportional pressure valve is connected to the air outlet of the miniature air pump, and the air outlet of each proportional pressure valve is connected to the air inlet of a corresponding pneumatic artificial muscle. Each proportional pressure valve has a built-in pressure sensor for real-time measurement of output pressure and generation of feedback voltage signals. The microcontroller is electrically connected to the control and feedback terminals of the miniature air pump and the multiple proportional pressure valves. The power supply provides power to all electrical components.

[0050] Accordingly, a multi-mode dynamic loading control method for waist protection equipment in microgravity environments includes the following steps:

[0051] Step 1: Initialize the system, start the micro air pump, and initialize the microcontroller to make the output air pressure of each proportional pressure valve zero.

[0052] Step 2: Set the loading mode, loading function, amplitude, and frequency; the loading mode can be static loading mode, sinusoidal dynamic loading mode, or stepped dynamic loading mode; the loading function can be axial compression, left bend, or right bend.

[0053] Step 3: Generate the target air pressure waveform for each pneumatic artificial muscle according to the settings. ;

[0054] Step 4: Perform closed-loop PID control independently for each pneumatic artificial muscle, collect the actual air pressure feedback from the proportional pressure valve in real time, call the corresponding PID parameters, calculate the control quantity and output the control voltage to the proportional pressure valve, so that the actual air pressure tracks the target waveform.

[0055] Step 5: The proportional pressure valve outputs gas at the corresponding pressure according to the control voltage to the pneumatic artificial muscle. The pneumatic artificial muscle contracts to generate tension, and the training load is applied to the astronaut's waist through the wearable module.

[0056] Step 6: During the training process, dynamically switch the loading mode, amplitude, or frequency parameters according to user instructions, and return to step 3.

[0057] like Figure 1 The diagram shows the overall structure of the invention. The wearable module includes shoulder straps, a waist belt, leg straps, four pneumatic artificial muscles, metal lanyards, and connecting straps. The shoulder straps are worn across the shoulders and connected to the upper ends of the pneumatic artificial muscles via metal lanyards. The lower ends of the pneumatic artificial muscles are connected to the waist belt via metal lanyards and connecting straps. The lower part of the waist belt is connected to the leg straps via connecting straps. Adjustable buckles are provided on the waist belt and leg straps. The control module includes a miniature air pump, a proportional pressure valve, a microcontroller, a power supply, and four air outlet ports. The miniature air pump is wrapped in sponge. A main power switch is provided on the outside of the control module. The four air outlet ports are respectively connected to the four pneumatic artificial muscles.

[0058] like Figure 2 The diagram shows the control system schematic of this invention based on a proportional pressure valve. The microcontroller used is an Arduino Uno, operating at 5V, with 14 output signal pins, including 6 pins for pulse-width modulation (PWM) signals and 6 analog input pins. The voltage of both analog input and output pins is limited to 0-5V. Four sets of input and output pins are used to receive feedback signals and output control signals, respectively. The proportional pressure valve is a VEAB series proportional valve manufactured by Feston, operating at 24V DC, consistent with the operating voltage of the air pump. The VEAB can accept an input voltage range of 0-5V, corresponding to an output air pressure control range of 0-650kPa. During normal operation, this proportional valve outputs 1-5V to provide feedback on its output air pressure, and weighs 70g. The micro air pump is a custom-designed micro vacuum pump, capable of providing an air pressure output range of 0 to 600kPa, weighing 483g. The system's operating power supply is an adjustable DC power supply that converts 220V AC voltage to 24V DC voltage. At the same time, a step-down module is used to reduce the 24V DC voltage to 5V DC voltage to power the Arduino microcontroller.

[0059] As shown in Figure 3, a pneumatic artificial muscle is used as the controlled object, and the target is a constant waveform. The PID parameters are: K P = 1.5, K I =0.001, K D =0.0005. Under this set of PID parameters, the control module can quickly bring the air pressure of the pneumatic artificial muscle to the specified amplitude and maintain a relatively stable air pressure. Moreover, after the air pressure stabilizes, the anti-interference ability is strong and there will be no obvious fluctuations. Figure 3 shows the following effect of the muscle 3 output air pressure following the constant waveform of each set amplitude (100 kPa, 150 kPa, 200 kPa, 250 kPa).

[0060] Figure 4 shows the control effect of the muscle output air pressure following the set sinusoidal loading for each cycle (amplitude 150-70 kPa, T=20 / 30 s). Its PID parameter is K. P = 0.8, K I =0.0082, K D =0.0005, the output air pressure follows the set waveform well.

[0061] Figure 5 illustrates the control effect of the muscle output air pressure following the set step loading for each cycle. When the amplitude is 150-70 kPa and T = 20 / 40 s, its PID parameter is K. P = 1.55, K I =0.005, K D=0.0005; when the amplitude is 170-80 kPa and T=40 s, its PID parameter is K. P = 1.55, K I =0.005, K D =0.0005, the output air pressure follows the set waveform well.

Claims

1. A multi-mode dynamic loading control system for waist protection equipment in microgravity environments, characterized in that, include: Wearable module, loading module, and control module; The wearable module includes shoulder straps, waist belt, and leg straps, which are used to secure the system to the human torso. The leg straps are used as anti-float anchor points in microgravity environments to prevent the torso from slipping upwards during loading. The loading module includes four independently controlled pneumatic artificial muscles. The upper end of each pneumatic artificial muscle is connected to the shoulder strap via a connector, and the lower end is connected to the waist belt via a connector. The control module includes a miniature air pump, proportional pressure valves, a microcontroller, and a power supply. The miniature air pump serves as the air source. Multiple proportional pressure valves, the same number as the pneumatic artificial muscles, are used; the air inlet of each proportional pressure valve is connected to the air outlet of the miniature air pump, and the air outlet of each proportional pressure valve is connected to the air inlet of a corresponding pneumatic artificial muscle. Each proportional pressure valve has a built-in pressure sensor for real-time measurement of output pressure and generation of feedback voltage signals. The microcontroller is electrically connected to the control and feedback terminals of the miniature air pump and the multiple proportional pressure valves. The power supply provides power to all electrical components.

2. The multi-mode dynamic loading control system for waist protection equipment in microgravity environments as described in claim 1, characterized in that, The shoulder straps are made of ultra-high molecular weight polyethylene fiber nonwoven fabric, and the waist belt and leg straps are equipped with adjustable buckles. The connectors are stainless steel metal rings, and the metal rings are fixed to the pneumatic artificial muscles by threads.

3. The multi-mode dynamic loading control system for waist protection equipment in microgravity environments as described in claim 1, characterized in that, The control module also includes a housing for housing the micro air pump, proportional pressure valve, microcontroller and power module; the housing is equipped with a cooling fan and the micro air pump is wrapped with shock-absorbing foam; the dimensions of the housing are 265 mm long, 185 mm wide and 105 mm high.

4. The multi-mode dynamic loading control system for waist protection equipment in microgravity environments as described in claim 1, characterized in that, The microcontroller is an Arduino; the proportional pressure valve is a VEAB series proportional valve, whose control voltage and output air pressure satisfy a linear relationship P. out = 120*U in , where P out The unit is kPa, U in The unit is V; the pneumatic artificial muscle is the DMSP series, and its output tension at a constant length is linearly proportional to the internal air pressure.

5. A control method based on the multi-mode dynamic loading control system for waist protection equipment in microgravity environments as described in claim 1, characterized in that, Includes the following steps: Step 1: Initialize the system, start the micro air pump, and initialize the microcontroller to make the output air pressure of each proportional pressure valve zero. Step 2: Set the loading mode, loading function, amplitude, and frequency; the loading mode can be static loading mode, sinusoidal dynamic loading mode, or stepped dynamic loading mode; the loading function can be axial compression, left bending, or right bending; the loading amplitude range is 50kPa~250kPa, and the frequency range is 0.025Hz~0.2Hz. Step 3: Generate the target air pressure waveform for each pneumatic artificial muscle according to the settings. ; Step 4: Perform closed-loop PID control independently for each pneumatic artificial muscle, collect the actual air pressure feedback from the proportional pressure valve in real time, call the corresponding PID parameters, calculate the control quantity and output the control voltage to the proportional pressure valve, so that the actual air pressure tracks the target waveform. Step 5: The proportional pressure valve outputs gas at the corresponding pressure according to the control voltage to the pneumatic artificial muscle. The pneumatic artificial muscle contracts to generate tension, and the training load is applied to the astronaut's waist through the wearable module. Step 6: During the training process, dynamically switch the loading mode, amplitude, or frequency parameters according to user instructions, and return to step 3.

6. The multi-mode dynamic loading control method for waist protection equipment in microgravity environments as described in claim 5, characterized in that, In step 2, the loading function is selected by setting the target air pressure of each pneumatic artificial muscle: when the target air pressure of the four pneumatic artificial muscles is equal, the axial compression loading function is realized; when the target air pressure of the left pneumatic artificial muscle is higher than that of the right pneumatic artificial muscle, the left bending loading function is realized; when the target air pressure of the right pneumatic artificial muscle is higher than that of the left pneumatic artificial muscle, the right bending loading function is realized.

7. The multi-mode dynamic loading control method for waist protection equipment in microgravity environments as described in claim 5, characterized in that, In step 3, the target air pressure waveform P target (t)=P0 + Where P0 is the reference air pressure, A is the amplitude, and f is the frequency; the adjustable range of frequency f is 0.025 Hz to 0.2 Hz, and the amplitude range of the target air pressure is 50 kPa to 250 kPa.

8. The multi-mode dynamic loading control method for waist protection equipment in microgravity environments as described in claim 7, characterized in that, The target air pressure waveform in the stepped dynamic loading mode includes the following stages in sequence within one cycle: a first low amplitude holding stage, a first linear rise stage from the first low amplitude to the first high amplitude, a first high amplitude holding stage, a second linear rise stage from the first high amplitude to the second high amplitude, a second high amplitude holding stage, a first linear fall stage from the second high amplitude to the first high amplitude, a first high amplitude holding stage, and a second linear fall stage from the first high amplitude to the first low amplitude; the period of the stepped waveform is adjustable from 20 s to 40 s.

9. The multi-mode dynamic loading control method for waist protection equipment in microgravity environments as described in claim 5, characterized in that, In step 4, based on the current loading mode and the number of pneumatic artificial muscles being controlled, the corresponding pre-stored PID parameters are invoked for control; the real-time air pressure value P fed back from the proportional pressure valve corresponding to the muscle is read. feedback (t); Calculate the control deviation e(t) = P target (t) - P feedback (t); Calculate the control quantity u(t) = K according to the PID control formula. p e(t)+K I + The output control voltage, which is proportional to the control quantity u(t), is sent to the corresponding proportional pressure valve to adjust its output air pressure.

10. The multi-mode dynamic loading control method for waist protection equipment in microgravity environments as described in claim 9, characterized in that, When the controlled object is a single pneumatic artificial muscle and the loading mode is static, call K P =1.5, K I =0.001,K D =0.0005; When the controlled object is a single pneumatic artificial muscle and the loading mode is sinusoidal dynamic, call K. P =0.8, K I =0.0082, K D =0.0005; When the controlled object is a single pneumatic artificial muscle and the loading mode is stepped dynamic, call K. P =1.55, K I =0.005, K D =0.0005; When the controlled object is multiple pneumatic artificial muscles and the loading mode is static, call K. P =1.5, K I =0.001, K D =0.0020; When the controlled object is multiple pneumatic artificial muscles and the loading mode is sinusoidal dynamic, K is called. P =0.78, K I =0.0050, K D =0.0015.

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