{"?xml":{"@version":"1.0"},"edm:RDF":{"@xmlns:dc":"http://purl.org/dc/elements/1.1/","@xmlns:edm":"http://www.europeana.eu/schemas/edm/","@xmlns:wgs84_pos":"http://www.w3.org/2003/01/geo/wgs84_pos","@xmlns:foaf":"http://xmlns.com/foaf/0.1/","@xmlns:rdaGr2":"http://rdvocab.info/ElementsGr2","@xmlns:oai":"http://www.openarchives.org/OAI/2.0/","@xmlns:owl":"http://www.w3.org/2002/07/owl#","@xmlns:rdf":"http://www.w3.org/1999/02/22-rdf-syntax-ns#","@xmlns:ore":"http://www.openarchives.org/ore/terms/","@xmlns:skos":"http://www.w3.org/2004/02/skos/core#","@xmlns:dcterms":"http://purl.org/dc/terms/","edm:WebResource":[{"@rdf:about":"http://www.dlib.si/stream/URN:NBN:SI:doc-T5WD70TX/a9f412eb-c825-406f-b39c-294941559df7/PDF","dcterms:extent":"1396 KB"},{"@rdf:about":"http://www.dlib.si/stream/URN:NBN:SI:doc-T5WD70TX/7bd00a74-aa97-484e-b070-e8c6d3e640e7/TEXT","dcterms:extent":"33 KB"}],"edm:TimeSpan":{"@rdf:about":"1999-2025","edm:begin":{"@xml:lang":"en","#text":"1999"},"edm:end":{"@xml:lang":"en","#text":"2025"}},"edm:ProvidedCHO":{"@rdf:about":"URN:NBN:SI:doc-T5WD70TX","dcterms:isPartOf":[{"@rdf:resource":"https://www.dlib.si/details/URN:NBN:SI:spr-6QOUKQ9A"},{"@xml:lang":"sl","#text":"Strojniški vestnik"}],"dcterms:issued":"2017","dc:creator":["Lin, Zhenkun","Liu, Xinyu","Liu, Yixiang","Zang, Xizhe","Zhao, Jie"],"dc:format":[{"@xml:lang":"sl","#text":"številka:1"},{"@xml:lang":"sl","#text":"letnik:63"},{"@xml:lang":"sl","#text":"str. 56-64"}],"dc:identifier":["ISSN:0039-2480","COBISSID_HOST:15213083","URN:URN:NBN:SI:doc-T5WD70TX"],"dc:language":"en","dc:publisher":{"@xml:lang":"sl","#text":"Zveza strojnih inženirjev in tehnikov Slovenije etc."},"dc:subject":[{"@xml:lang":"sl","#text":"asimetrična histereza"},{"@xml:lang":"sl","#text":"histereza dolžine/tlaka"},{"@xml:lang":"sl","#text":"kompenzacija histereze"},{"@xml:lang":"sl","#text":"modificiran model Prandtl-Ishlinskii"},{"@xml:lang":"sl","#text":"pnevmatične umetne mišice"},{"@xml:lang":"sl","#text":"rekurziven algoritem najmanjših kvadratov"}],"dcterms:temporal":{"@rdf:resource":"1999-2025"},"dc:title":{"@xml:lang":"sl","#text":"Modelling length/pressure hysteresis of a pneumatic artificial muscle using a modified Prandtl-Ishlinskii model|"},"dc:description":[{"@xml:lang":"sl","#text":"Pneumatic artificial muscles have been widely used in various fields owing to their inherent compliance and high power-to-weight ratio. However, the natural hysteresis nonlinearity including length/pressure hysteresis and force/pressure hysteresis degrades their performance in precise tracking control, making it necessary to build a mathematical hysteresis model for hysteresis compensation. This paper deals with the modelling of length/pressure hysteresis of pneumatic artificial muscles. The length/pressure hysteresis loops measured by the isotonic test are found to be asymmetric and independent of the external load when the load is small. Considering that the classical Prandtl-Ishlinskii model is only effective for symmetric hysteresis, a modified Prandtl-Ishlinskii model is proposed to describe the length/pressure hysteresis behaviour. The developed model utilizes two asymmetric operators with simple mathematical forms to independently model the ascending branch and descending branch of hysteresis loops. The model parameters are identified using the recursive least square algorithm. Comparisons between simulation results and experimental measurements demonstrate that the proposed model can characterize the asymmetric major hysteresis loop and minor hysteresis loops with high accuracy"},{"@xml:lang":"sl","#text":"Pnevmatične umetne mišice (PAM) so razmeroma nova vrsta elastičnih pnevmatičnih izvršnih členov. Zaradi svoje netogosti ter velikega razmerja med močjo in maso so se uveljavile na različnih področjih uporabe. Njihova naravna nelinearnost, ki vključuje histerezo dolžine/tlaka in histerezo sile/tlaka, pa povečuje sistemsko nelinearnost ter zmanjšuje sposobnost natančnega sledenja. Ena od rešitev za premostitev te težave je postavitev matematičnega modela histereze ter uporaba njegovega inverza za kompenzacijo histereze in doseganje približno linearnega odziva PAM. Članek obravnava modeliranje histereze dolžine/tlaka pri PAM. Histereza dolžine/tlaka se meri z izotoničnim testom ob predpostavki kvazistatičnosti procesa, meritve pa nakazujejo obstoj večje in manjše histerezne zanke med hitrostjo krčenja in notranjm tlakom PAM. Te histerezne zanke so asimetrične ter niso odvisne od manjših zunanjih obremenitev"}],"edm:type":"TEXT","dc:type":[{"@xml:lang":"sl","#text":"znanstveno časopisje"},{"@xml:lang":"en","#text":"journals"},{"@rdf:resource":"http://www.wikidata.org/entity/Q361785"}]},"ore:Aggregation":{"@rdf:about":"http://www.dlib.si/?URN=URN:NBN:SI:doc-T5WD70TX","edm:aggregatedCHO":{"@rdf:resource":"URN:NBN:SI:doc-T5WD70TX"},"edm:isShownBy":{"@rdf:resource":"http://www.dlib.si/stream/URN:NBN:SI:doc-T5WD70TX/a9f412eb-c825-406f-b39c-294941559df7/PDF"},"edm:rights":{"@rdf:resource":"http://rightsstatements.org/vocab/InC/1.0/"},"edm:provider":"Slovenian National E-content Aggregator","edm:intermediateProvider":{"@xml:lang":"en","#text":"National and University Library of Slovenia"},"edm:dataProvider":{"@xml:lang":"sl","#text":"Univerza v Ljubljani, Fakulteta za strojništvo"},"edm:object":{"@rdf:resource":"http://www.dlib.si/streamdb/URN:NBN:SI:doc-T5WD70TX/maxi/edm"},"edm:isShownAt":{"@rdf:resource":"http://www.dlib.si/details/URN:NBN:SI:doc-T5WD70TX"}}}}