基于高速开关阀的气动人工肌肉轨迹跟踪控制仿真

发布时间：2018-01-18 08:52

本文关键词：基于高速开关阀的气动人工肌肉轨迹跟踪控制仿真　出处：《农业机械学报》2017年01期 　论文类型：期刊论文

【摘要】：针对基于高速开关阀的气动人工肌肉位置伺服控制系统的非线性与时变性,设计了基于气动人工肌肉实验模型的PID反馈控制器,实现气动人工肌肉的高精度运动轨迹跟踪控制。首先,通过实验建模得到气动人工肌肉静态特性的实验模型,然后基于理想气体多变方程,建立可有效描述气动人工肌肉动态特性的数学模型,利用Sanville流量公式建立流经高速开关阀阀口的气体流量方程,并采用脉冲信号调制法生成PWM信号,进而控制高速开关阀占空比。在此基础上,借助PID反馈控制器建立气动人工肌肉气压与轨迹跟踪的控制模型,并采用Simulink对所提出的气压和轨迹跟踪控制方法进行数值仿真。结果表明,所建立的控制模型能够精确地跟踪期望气压和运动轨迹,从而验证了控制模型和控制方案的精确性和可行性,为实现气动人工肌肉高精度轨迹跟踪控制提供了有效手段。
[Abstract]:Aiming at the nonlinear and time-varying of pneumatic artificial muscle position servo control system based on high speed switch valve, a PID feedback controller based on pneumatic artificial muscle experimental model is designed. The high-precision trajectory tracking control of pneumatic artificial muscle is realized. Firstly, the experimental model of static characteristics of pneumatic artificial muscle is obtained by experimental modeling, and then based on the ideal gas variable equation. A mathematical model which can effectively describe the dynamic characteristics of pneumatic artificial muscle was established, and the gas flow equation was established by using the Sanville flow formula. The pulse signal modulation method is used to generate the PWM signal, and then the duty cycle of the high speed switch valve is controlled. Based on this, the control model of pneumatic artificial muscle pressure and trajectory tracking is established by means of PID feedback controller. The numerical simulation results show that the proposed control model can track the desired pressure and trajectory accurately. Therefore, the accuracy and feasibility of the control model and control scheme are verified, which provides an effective means for the high-precision trajectory tracking control of pneumatic artificial muscle.
【作者单位】：天津大学机构理论与装备设计教育部重点实验室;
【基金】：国家自然科学基金项目(51405331)
【分类号】：TP273
【正文快照】： 引言气动人工肌肉(Pneumatic artificial muscle,PAM),因具有结构简单、质量轻、输出力/自重比大、柔性大等优点,在农业机器人关节驱动中得到了越来越多的应用[1]。然而,由于其自身的结构特点,使其在使用过程中产生迟滞[2]、门槛气压效应[3]、蠕变[4]、柔顺性[5]和闭环带宽低[

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