Sliding mode tracking for actuators comprising pneumatic muscle and torsion spring
Sliding mode tracking for actuators comprising pneumatic muscle and torsion spring
复制标题
用于包含气动肌肉和扭力弹簧的执行器的滑模跟踪
DOI：
10.1177/0142331210366652
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发表时间：
2009-12
影响因子：
1.8
通讯作者：
Wu, Jun
中科院分区：
文献类型：
--
作者：
Xing, Kexin;Huang, Jian;He, Jiping;Wang, Yongji;Xu, Qi;Wu, Jun
将滑模方法应用于由气动肌肉和扭力弹簧驱动的平面臂式机械臂系统的跟踪控制问题。与传统的激动剂/拮抗剂PM致动器不同，PM被安排在二头肌的位置，扭转弹簧在执行器中提供相反的扭矩。建立了该系统的动力学模型，并设计了滑模控制器，使关节角在保证精度的情况下沿期望轨迹运动。提出了一种选择方法，以获得合适的弹簧系数，该系数在跟踪控制任务中起着重要作用。仿真结果验证了该方法的有效性。并比较了在对对副结构下，采用新型永磁执行机构与传统永磁执行机构控制效果的差异。
In this study, the sliding mode approach is applied to the tracking control problem of a planar arm manipulator system driven by a new type of actuator, which comprises a pneumatic muscle (PM) and a torsion spring. Unlike the traditional agonist/antagonist PM actuator, the PM is arranged in place of bicep and the torsion spring provides opposing torque in the presented actuator. The dynamic model is derived for this system and a sliding mode controller is designed to make the joint angle track a desired trajectory within a guaranteed accuracy even there are modelling uncertainties. A selection method is also proposed to obtain an appropriate spring coefficient, which plays an important role in the tracking control task. The effectiveness of the proposed method is confirmed by simulations. The differences between the control results of using our new actuator and that of using the traditional PM actuator in opposing pair configuration are also compared.
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DOI：
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发表时间：
1999-08
期刊：
Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)
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期刊：
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影响因子：
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