摘要
为了研究柔性关节驱动器输出力的迟滞影响,提高力控制精度,构建了柔性关节驱动力的迟滞实验台,提出柔性关节驱动器输出力的Bouc-Wen修正方法对力迟滞进行精确建模,并通过龙格-库塔-费尔贝格算法对BoucWen修正模型进行参数辨识.在Bouc-Wen模型的基础上,引入具有方向性的修正项,克服柔性关节驱动器的输出力-转角迟滞的非对称性.利用关节驱动器在60、80、100、120 kPa充气压力下的力迟滞实验数据,建立Bouc-Wen修正模型.在70、90、110 kPa充气压力下,将Bouc-Wen修正模型所预测的柔性关节力迟滞曲线与经典Bouc-Wen模型以及实验曲线进行对比.结果表明所提出的力迟滞Bouc-Wen修正模型,在各充气压力下的最大相对误差仅为7.75%,平均偏差小于0.45 N,模型拟合优度大于0.99.说明所提出的Bouc-Wen修正模型能够对柔性关节驱动器的力迟滞进行准确建模,为力闭环控制提供基础,也为其他超弹性材料柔性驱动器的迟滞建模提供参考方法.
A hysteresis test bench for flexible joint driving force was constructed,in order to study the force hysteresis characteristic of the flexible joint actuator and improve the force control accuracy.The modified Bouc-Wen method was proposed to accurately model the force hysteresis of the joint actuator,and the parameters of the modified Bouc-Wen model were identified by the Runge-Kutta-Fehlberg method.On the basis of the conventional Bouc-Wen model,a directional correction term was introduced to overcome the asymmetry of the output force-angle hysteresis of the flexible joint actuator.The modified Bouc-Wen model was established,using the experimental data of force hysteresis of joint actuator at 60,80,100 and 120 kPa inflation pressure.The hysteresis curve predicted by the proposed Bouc-Wen model was compared with that of the conventional Bouc-Wen and the experimental curve at 70,90 and 110 kPa inflation pressure.Experimental results show that the maximum relative error of the proposed Bouc-Wen based force hysteresis model for the flexible joint actuator under each inflation pressure was only 7.75%,the average deviation remained within 0.45 N,and the fitting goodness of the model was more than 0.99.Results show that the proposed modified Bouc-Wen model can accurately describe the force hysteresis of the flexible joint actuator,which lays a foundation for the force closed-loop control and also provides a promising method for the hysteresis modeling of other hyperelastic flexible actuators.
作者
许明
张帝
戎铖
苏礼荣
王万强
XU Ming;ZHANG Di;RONG Cheng;SU Li-rong;WANG Wan-qiang(School of Mechanical Engineering,Hangzhou Dianzi University,Hangzhou 310018,China)
出处
《浙江大学学报（工学版）》
EI
CAS
CSCD
北大核心
2022年第8期1560-1567,1621,共9页
Journal of Zhejiang University：Engineering Science
基金
国家自然科学基金资助项目(51975171)
浙江省教育厅一般科研项目(专业学位研究生培养模式改革专项)资助项目(Y202146881)。
作者简介
许明(1982-),男,教授,博士,从事软体机器人驱动研究.orcid.org/0000-0003-1312-6190.E-mail:jxxuming@hdu.edu.cn;通信联系人:王万强,男,高级实验师.orcid.org/0000-0002-5751-8551.E-mail:wwq@hdu.edu.cn。
