基于 Maxwell 改进模型的气动人工肌肉迟滞特性

In view of the high nonlinearity of pneumatic artificial muscle and the difficulty in establishing a hysteresis model, the hysteresis characteristics of pneumatic artificial muscle were studied, and an improved Maxwell model based on slip operator was proposed. First of all, the contraction force test platform of pneumatic artificial muscle was set, on which the static force experiment and dynamic force experiment were carried out. The hysteresis force curve of the pneumatic artificial muscle was obtained, and the effects of different strokes, different inflation pressures, and different expansion rates on the hysteresis loop were considered respectively.The hysteresis characteristics of the pneumatic artificial muscle were obtained. Then, since the traditional Maxwell model could not represent the asymmetrical hysteresis characteristics of pneumatic artificial muscle very well, the hysteresis curves were contracted from the upper and lower parts, respectively, and the obtained operators could represent the non-local memory and asymmetry of the contraction curves of the pneumatic artificial muscle better. The maximum error was controlled within 6.8%, andthe error of the middle section was controlled within 2.0%, matching the experimental curve well and verifyingthe universality of the model.