1969 KB29 KB199920252017Liu, HaitaoMei, JiangpingXie, ShenglongZang, Jiaweištevilka:11letnik:63str. 657-665ISSN:0039-2480COBISSID_HOST:15745563URN:URN:NBN:SI:doc-YJHCNFZ7enZveza strojnih inženirjev in tehnikov Slovenije etc.Strojniški vestnikidentifikacija parametrovkrmiljenje po trajektorijimetoda Levenberg-Marquardtnelinearnost zaradi histerezepnevmatična umetna mišica (PAM)posplošeni model Prandtl-Ishlinskii (GPI)Hysteresis modelling and compensation of pneumatic artificial muscles using the generalized Prandtl-Ishlinskii model|The pneumatic artificial muscle (PAM) has attracted extensive attention from both industrial and academic fields due to its high power/weight ratio and significant compliance. However, the inherent hysteresis nonlinearities, including force-length and length-pressure hysteresis, have significant influence on the accuracy of trajectory tracking control. This paper presents a generalized Prandtl-Ishlinskii (GPI) model and its inversion for the asymmetric hysteresis characterization and compensation of the PAM. By using the Levenberg-Marquardt (L-M) method, the parameters in the proposed GPI model are identified, based on which the simulation result of the GPI model and the measured experimental data are compared to validate the identification. To compensate for the nonlinear length-pressure hysteresis, a feedforward/feedback combined control scheme is developed to realize highly accurate trajectory tracking control of the PAM. The experimental results show that the inverse GPI model has a good capability of compensating the asymmetric length-pressure hysteresisPnevmatične umetne mišice (PAM) so s svojim velikim razmerjem med močjo in maso ter dobro podajnostjo pritegnile veliko pozornosti tako v industriji kot v akademskih krogih. Inherentne nelinearnosti v obliki histerez (sila/dolžina, dolžina/tlak) pri PAM pomembno vplivajo na točnost krmiljenja gibanja po trajektoriji in v zadnjih letih je bilo zato opravljenih veliko študij za odpravo negativnih vplivov histerez. Modele histerez pri PAM je v grobem mogoče razdeliti v modele na podlagi operatorjev in modele na podlagi diferencialnih enačb. Modeli iz prve skupine, kot so modeli Preisach, Prandtl-Ishlinskii (PI) in Maxwell-Slip, uporabljajo za karakterizacijo histerez različne matematične operatorje. V drugo skupino modelov na podlagi diferencialnih enačb spadajo modeli Duhem, LuGre, Bouc-Wen in drugiTEXTznanstveno časopisjejournalsSlovenian National E-content AggregatorNational and University Library of SloveniaUniverza v Ljubljani, Fakulteta za strojništvo