Medical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm

作     者：Yeming Zhang Kaimin Li Meng Xu Junlei Liu Hongwei Yue Yeming Zhang;Kaimin Li;Meng Xu;Junlei Liu;Hongwei Yue

作者机构：School of Mechanical and Power EngineeringHenan Polytechnic UniversityJiaozuo454000China State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310027China Orthopedics Department of People’s Liberation Army General HospitalBeijing100853China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2021年第34卷第6期

页      面：316-330页

核心收录：

学科分类：0831[工学-生物医学工程（可授工学、理学、医学学位）] 12[管理学] 1004[医学-公共卫生与预防医学(可授医学、理学学位)] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化] 0812[工学-计算机科学与技术（可授工学、理学学位）] 10[医学] 

基　　金：Supported by Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems(Grant No.GZKF-202016) Henan Province Science and Technology Key Project of China(Grant No.202102210081) Fundamental Research Funds for Henan Province Colleges and Universities of China(Grant No.NSFRF140120) Doctor Foundation of Henan Polytechnic University of China(Grant No.B2012-101) 

主　　题：Position control Friction compensation Differential evolution Parameter optimization 

摘      要：This paper introduces a pneumatic finger cylinder servo control system for medical ***,according to the physical structure of the proportional directional valve and the pneumatic cylinder,the state equation of the gas in the servo system was *** Stribeck friction compensation model of a pneumatic finger cylinder controlled by a proportional valve was established and the experimental platform *** allow the system output to bet-ter track the change in the input signal,the flow-gain compensation method was *** this basis,a friction compensation control strategy based on a differential evolution algorithm was proposed and applied to the position control system of a pneumatic finger ***,the strategy was compared with the traditional proportional derivative(PD)strategy and that with friction *** experimental results showed that the position accuracy of the finger cylinder position control system can be improved by using the friction compensation strategy based on the differential evolution algorithm to optimize the PD parameters.