{"title":"基于模型的气动肌肉力特性滞后补偿","authors":"D. Schindele, H. Aschemann","doi":"10.1109/AMC.2012.6197057","DOIUrl":null,"url":null,"abstract":"This paper presents a compensation strategy for the hysteresis in the nonlinear force characteristic of pneumatic muscles. For a dynamical modelling of the hysteresis, the generalised Bouc-Wen model is employed. This model allows for the representation of highly asymmetric hysteresis. The parameters of the Bouc-Wen model are identified by measurements. An existing control structure for a high-speed linear axis actuated by pneumatic muscles is extended by the Bouc-Wen model with the identified parameters for compensation of the hysteresis. Experimental results from an implementation on a test rig show the efficiency of the proposed compensation strategy.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"52 1","pages":"1-6"},"PeriodicalIF":0.0000,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"15","resultStr":"{\"title\":\"Model-based compensation of hysteresis in the force characteristic of pneumatic muscles\",\"authors\":\"D. Schindele, H. Aschemann\",\"doi\":\"10.1109/AMC.2012.6197057\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a compensation strategy for the hysteresis in the nonlinear force characteristic of pneumatic muscles. For a dynamical modelling of the hysteresis, the generalised Bouc-Wen model is employed. This model allows for the representation of highly asymmetric hysteresis. The parameters of the Bouc-Wen model are identified by measurements. An existing control structure for a high-speed linear axis actuated by pneumatic muscles is extended by the Bouc-Wen model with the identified parameters for compensation of the hysteresis. Experimental results from an implementation on a test rig show the efficiency of the proposed compensation strategy.\",\"PeriodicalId\":6439,\"journal\":{\"name\":\"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)\",\"volume\":\"52 1\",\"pages\":\"1-6\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-03-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"15\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AMC.2012.6197057\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.2012.6197057","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Model-based compensation of hysteresis in the force characteristic of pneumatic muscles
This paper presents a compensation strategy for the hysteresis in the nonlinear force characteristic of pneumatic muscles. For a dynamical modelling of the hysteresis, the generalised Bouc-Wen model is employed. This model allows for the representation of highly asymmetric hysteresis. The parameters of the Bouc-Wen model are identified by measurements. An existing control structure for a high-speed linear axis actuated by pneumatic muscles is extended by the Bouc-Wen model with the identified parameters for compensation of the hysteresis. Experimental results from an implementation on a test rig show the efficiency of the proposed compensation strategy.
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