中国空间科学技术2024，Vol.44Issue(1)：65-74,10.DOI:10.16708/j.cnki.1000-758X.2024.0007
舱外航天服下肢关节阻力矩迟滞特性研究与建模分析
Research and modeling analysis of joint resistant torque hysteresis characteristics of lower limbs in extravehicular spacesuit
摘要
Abstract
The joint resistant torque of extravehicular spacesuit is an important index to evaluate the ergonomic performance of spacesuit and to plan astronauts'extravehicular mission.In order to study the hysteresis characteristics of spacesuits'joint resistant torque,firstly,the causes of the joint resistant torque were summarized,and the hysteresis relationship between the joint resistant torque and the motion angle of lower limbs was obtained.Secondly,the Jiles-Atherton model was adopted to describe the hysteresis characteristics of the joint resistant torque.Meanwhile,based on the actual joint resistant torque data,the SA-PSO(simulated annealing-particle swarm optimization)algorithm was proposed to identify the Jiles-Atherton model parameters.Finally,compared with the modified particle swarm optimization algorithm,the convergence rate of the designed SA-PSO algorithm was improved by 15.58％and 10.91％,the computational accuracy was improved by 29.31％and 11.77％,and the prediction errors of the unknown joint resistant torque were reduced by 10.89％/25.73％and 0.96％/22.2％,respectively,which verified the effectiveness of the designed algorithm.In addition,an error compensation function was designed according to the characteristics of modeling errors,and the identified Jiles-Atherton model further reduced the prediction errors by 46.49％/10.95％after error compensation.The calculated model can serve as a theoretical basis for the subsequent research on joint-assisted technology of extravehicular spacesuit.关键词
舱外航天服/关节阻力矩/迟滞特性/Jiles-Atherton模型/模拟退火算法/粒子群优化算法Key words
extravehicular spacesuit/joint resistant torque/hysteresis characteristics/Jiles-Atherton model/simulated annealing algorithm/particle swarm optimization algorithm分类
航空航天引用本文复制引用
李照阳,戴跃洪,王君尧..舱外航天服下肢关节阻力矩迟滞特性研究与建模分析[J].中国空间科学技术,2024,44(1):65-74,10.基金项目
载人航天预先研究项目(020202) （020202）
