Abstract
To realize high precision servo control for the extension pneumatic muscle (E-PM), the nonlinear dynamic model of the E-PM is established and the effect parameters of the nonlinear dynamic model are analyzed, according to the phenomenological dynamic modeling theory. Firstly, an E-PM is designed based on the basic principle of PMs. Secondly, based on the dynamic characteristics of the E-PM, the nonlinear dynamic model of the E-PM is established. Thirdly, the parameters of the nonlinear dynamic model are identified by the elasticity test. Lastly, in the Matlab\Simscape environment, the nonlinear dynamic model of the E-PM is simulated and the effect parameters of the nonlinear dynamic model are analyzed. The result shows that the nonlinear dynamic model by phenomenological dynamic modeling theory can accurately reflect the dynamic characteristics of the E-PM. In addition, when the damping parameter changes in the range of 0.35-0.55, the biggest difference between the rise time is 1.5s and the biggest difference between the stable time is 3.1s. It indicates that the damping parameter has a great effect on the dynamic characteristics of the E-PM.
Published Version
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