Mathematically modelling of pneumatic artificial muscles is a quite difficult issue at present. Aimed at it, an experiment identification method of pneumatic artificial muscles is proposed. Taking pneumatic artificial muscle-mass system as the study subject, the model of relationship between the input air pressure and the muscle contraction was investigated by an identification experiment. The dynamic responses of pressurizing and depressurizing processes of the pneumatic artificial muscle were regarded as under-damped second-order systems. Then the model parameters were identified using the data in experimental measurements. Finally the identified models are used for the position control of a single pneumatic artificial muscle. The validity of the models is verified by experiments.
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孙丽娜,毕庆.基于实验模型的气动人工肌肉位置控制研究[J].机床与液压,2018,46(5):84-86. . Empirical Model Based Study in Position Control of Pneumatic Artificial Muscle[J]. Machine Tool & Hydraulics,2018,46(5):84-86