基于气动人工肌肉几何模型的作动器动力学仿真

2013 IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY) Pub Date : 2013-11-14 DOI:10.1109/SISY.2013.6662577

M. Tóthová, J. Pitel’

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引用次数: 23

摘要

在Matlab Simulink环境下，设计并建立了双气动人工肌肉对抗连接作动器的动态仿真模型。该仿真模型的基础是基于高级几何肌肉模型的气动执行器动力学模型。通过模型仿真得到了该作动器的主要动力学特性，如肌肉力变化、肌肉压力变化、作动器臂部位置等。仿真结果将用于基于模型参考自适应控制器的作动器控制系统的设计。

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Simulation of actuator dynamics based on geometric model of pneumatic artificial muscle

Dynamic simulation model of the actuator with two pneumatic artificial muscles in antagonistic connection was designed and built in Matlab Simulink environment. The basis for this simulation model was dynamic model of the pneumatic actuator based on advanced geometric muscle model. The main dynamics characteristics of such actuator were obtained by model simulation, as for example muscle force change, pressure change in muscle, arm position of the actuator. Simulation results will be used in design of control system of such actuator using model reference adaptive controller.

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来源期刊

2013 IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY)

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