气动人工肌肉迟滞-蠕变特性研究现状与进展

doi:10.16182/j.issn1004731x.joss.201803006

摘要/Abstract

摘要： 针对气动人工肌肉中存在的迟滞及蠕变现象,回顾了其研究历史并总结了国内外主要研究机构的研究现状。从气动人工肌肉迟滞及蠕变现象的特点、产生原因、建模以及基于迟滞模型的控制策略等方面,对现有的研究进展与成果进行了综述。分析了目前气动人工肌肉中存在的问题并提出了进一步研究的思路。从目前的发展趋势来看,气动人工肌肉迟滞与蠕变的理论研究还远不充分。迟滞特性建模需要解决因蠕变引起的参数动态变化问题,神经网络建模需解决多环辨识问题,而基于逆模型补偿的控制策略则需要解决模型复杂以及参数敏感问题。

关键词: 气动人工肌肉, 迟滞, 蠕变, 逆模型, 控制

Abstract: Regarding to the problems of hysteresis and creep, the developments and achievements of the research on pneumatic artificial muscles at home and abroad are systemically reviewed. The state of the art is summarized in terms of characteristics, reasons causing, modeling and control strategies based on the hysteresis and creep modeling. The problems in recent research are analyzed and the direction for further research is put forward. The theoretical study on hysteresis and creep of pneumatic artificial muscle is limited. The hysteresis modeling needs to consider the time-varied parameters caused by creep. Neural network modeling needs to solve the problem of multi loop identification. The control strategy based on inverse model compensation faces the problems of model complexity and parameter sensitivity.

Key words: pneumatic artificial muscle, hysteresis, creep, inverse model, control

中图分类号:

TH117.3

谢胜龙, 刘海涛, 梅江平. 气动人工肌肉迟滞-蠕变特性研究现状与进展[J]. 系统仿真学报, 2018, 30(3): 809-823.

Xie Shenglong, Liu Haitao, Mei Jiangping. Achievements and Developments of Hysteresis and Creep of Pneumatic Artificial Muscles[J]. Journal of System Simulation, 2018, 30(3): 809-823.

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