高技术通讯2013，Vol.23Issue(5)：497-503,7.DOI:10.3772/j.issn.1002-0470.2013.05.009
气动肌肉的三元素模型辨识研究
Research on identifying the three-element model for pneumatic muscle
摘要
Abstract
Based on the three-element model for pneumatic muscle (PM) proposed by Reynolds,the experiments were conducted to identify the parameters of the PM model.The experimental results demonstrate that the contractile element Fce increases linearly with the pressure P,but a piecewise linear relationship is shown between the pressure P and the spring factor K,which rises up first and then declines with respect to the consistent increase of the pressure P.Therefore,the improved segmented three-element model was used to describe the PM model.In consideration of the small effect on the output force of PM,the damping factor B was treated as a bounded function.Finally,two different sliding mode controllers were designed and the control experiments demonstrated the effectiveness of the proposed model.关键词
气动肌肉(PM)/三元素模型/弹簧系数/分段模型/有界函数Key words
pneumatic muscle (PM)/ three-element model/ spring factor/ segmented model/ bounded function引用本文复制引用
邢科新,徐建明,何德峰,张贵军,吴军..气动肌肉的三元素模型辨识研究[J].高技术通讯,2013,23(5):497-503,7.基金项目
国家自然科学基金(61202203,61075062),浙江省自然科学基金(LY12F01023)和浙江省教育厅项目(Y201121841)资助. （61202203,61075062）
