A method for the length-pressure hysteresis modeling of pneumatic artificial muscles

作     者：XIE ShengLong LIU HaiTao &WANG Yu XIE ShengLong;LIU HaiTao;WANG Yu

作者机构：School of Mechanical and Electrical EngineeringChina Jiliang UniversityHangzhou 310018China Key Laboratory of Mechanism Theory and Equipment DesignMinistry of EducationTianjin UniversityTianjin 300072China 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2020年第63卷第5期

页      面：829-837页

核心收录：

学科分类：0810[工学-信息与通信工程] 08[工学] 0805[工学-材料科学与工程（可授工学、理学学位）] 080502[工学-材料学] 0702[理学-物理学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by the National Key Technologies Research&Development Program of China(Grant No.2018YFB2101000) the National Natural Science Foundation of China(Grant No.51622508) 

主　　题：modified generalized Prandtl-Ishlinskii model pneumatic artificial muscle hysteresis envelope function control 

摘      要：This paper presents a method for the length-pressure hysteresis modeling of pneumatic artificial muscles(PAMs)by using a modified generalized Prandtl-Ishlinskii(GPI)*** from the approaches for establishing the GPI models by replacing the linear envelope functions of operators with hyperbolic tangent and exponential envelop functions,the proposed model is derived by modifying the envelope functions of operators into arc tangent functions,which shows an improvement in the modeling *** effectiveness of the proposed model is verified by the experimental data of a ***,its capacity in capturing the hysteresis relationship between length and pressure is testified by giving different input pressure *** regard to the computational efficiency,the influence of the number of operators on the modeling accuracy is ***,the inversion of the GPI model is *** capability of compensating the hysteresis nonlinearities is confirmed via the simulation and experimental study.