期刊
MECHANISM AND MACHINE THEORY
卷 120, 期 -, 页码 213-224出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2017.07.016
关键词
Pneumatic muscle actuator (PMA); Hysteresis; Modified Prandtl-Ishlinskii (MPI) model; Trajectory tracking control; Fast switching valve
资金
- National Natural Science Foundation of China [51405331]
The pneumatic muscle actuator (PMA) has attracted extensive attentions from both industrial and academic fields due to its high power/weight ratio and significant compliance. However, on the one hand the inherent hysteresis nonlinearity has high influence on the accuracy of trajectory tracking control of PMA, and on the other hand a system actuated by PMAs is at a high cost. This paper presents a modified Prandtl-Ishlinskii (MPI) model for the asymmetric hysteresis characterization and compensation of the PMA using fast switching valves. By using the Levenberg-Marquardt (L-M) method, the parameters in the MPI model are identified. To compensate the nonlinear length/pressure hysteresis and reduce the cost, a cascade control scheme using fast switching valves based on the inverse MPI model is developed to realize the trajectory tracking control. The experimental result shows the effectiveness of the proposed control scheme on compensating the asymmetric length/pressure hysteresis of the PMA. (C) 2017 Elsevier Ltd. All rights reserved.
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