Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model

444 Views
220 Downloads
Export citation: ABNT
LIU, Yixiang ;ZANG, Xizhe ;LIN, Zhenkun ;LIU, Xinyu ;ZHAO, Jie .
Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 63, n.1, p. 56-64, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/modelling-lengthpressure-hysteresis-of-a-pneumatic-artificial-muscle-using-a-modified-prandtl-ishlinskii-model/>. Date accessed: 23 jan. 2019. 
doi:http://dx.doi.org/10.5545/sv-jme.2016.4027.
Liu, Y., Zang, X., Lin, Z., Liu, X., & Zhao, J.
(2017).
Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model.
Strojniški vestnik - Journal of Mechanical Engineering, 63(1), 56-64.
doi:http://dx.doi.org/10.5545/sv-jme.2016.4027
@article{sv-jmesv-jme.2016.4027,
	author = {Yixiang  Liu and Xizhe  Zang and Zhenkun  Lin and Xinyu  Liu and Jie  Zhao},
	title = {Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {63},
	number = {1},
	year = {2017},
	keywords = {asymmetric hysteresis; length/pressure hysteresis; modified Prandtl-Ishlinskii model; pneumatic artificial muscles; recursive least mean square algorithm},
	abstract = {Pneumatic artificial muscles have been widely used in various fields owing to their inherent compliance and high power-to-weight ratio. However, the natural hysteresis nonlinearity including length/pressure hysteresis and force/pressure hysteresis degrades their performance in precise tracking control, making it necessary to build a mathematical hysteresis model for hysteresis compensation. This paper deals with the modelling of length/pressure hysteresis of pneumatic artificial muscles. The length/pressure hysteresis loops measured by the isotonic test are found to be asymmetric and independent of the external load when the load is small. Considering that the classical Prandtl-Ishlinskii model is only effective for symmetric hysteresis, a modified Prandtl-Ishlinskii model is proposed to describe the length/pressure hysteresis behaviour. The developed model utilizes two asymmetric operators with simple mathematical forms to independently model the ascending branch and descending branch of hysteresis loops. The model parameters are identified using the recursive least square algorithm. Comparisons between simulation results and experimental measurements demonstrate that the proposed model can characterize the asymmetric major hysteresis loop and minor hysteresis loops with high accuracy.},
	issn = {0039-2480},	pages = {56-64},	doi = {10.5545/sv-jme.2016.4027},
	url = {https://www.sv-jme.eu/article/modelling-lengthpressure-hysteresis-of-a-pneumatic-artificial-muscle-using-a-modified-prandtl-ishlinskii-model/}
}
Liu, Y.,Zang, X.,Lin, Z.,Liu, X.,Zhao, J.
2017 June 63. Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 63:1
%A Liu, Yixiang 
%A Zang, Xizhe 
%A Lin, Zhenkun 
%A Liu, Xinyu 
%A Zhao, Jie 
%D 2017
%T Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model
%B 2017
%9 asymmetric hysteresis; length/pressure hysteresis; modified Prandtl-Ishlinskii model; pneumatic artificial muscles; recursive least mean square algorithm
%! Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model
%K asymmetric hysteresis; length/pressure hysteresis; modified Prandtl-Ishlinskii model; pneumatic artificial muscles; recursive least mean square algorithm
%X Pneumatic artificial muscles have been widely used in various fields owing to their inherent compliance and high power-to-weight ratio. However, the natural hysteresis nonlinearity including length/pressure hysteresis and force/pressure hysteresis degrades their performance in precise tracking control, making it necessary to build a mathematical hysteresis model for hysteresis compensation. This paper deals with the modelling of length/pressure hysteresis of pneumatic artificial muscles. The length/pressure hysteresis loops measured by the isotonic test are found to be asymmetric and independent of the external load when the load is small. Considering that the classical Prandtl-Ishlinskii model is only effective for symmetric hysteresis, a modified Prandtl-Ishlinskii model is proposed to describe the length/pressure hysteresis behaviour. The developed model utilizes two asymmetric operators with simple mathematical forms to independently model the ascending branch and descending branch of hysteresis loops. The model parameters are identified using the recursive least square algorithm. Comparisons between simulation results and experimental measurements demonstrate that the proposed model can characterize the asymmetric major hysteresis loop and minor hysteresis loops with high accuracy.
%U https://www.sv-jme.eu/article/modelling-lengthpressure-hysteresis-of-a-pneumatic-artificial-muscle-using-a-modified-prandtl-ishlinskii-model/
%0 Journal Article
%R 10.5545/sv-jme.2016.4027
%& 56
%P 9
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 63
%N 1
%@ 0039-2480
%8 2018-06-27
%7 2018-06-27
Liu, Yixiang, Xizhe  Zang, Zhenkun  Lin, Xinyu  Liu, & Jie  Zhao.
"Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model." Strojniški vestnik - Journal of Mechanical Engineering [Online], 63.1 (2017): 56-64. Web.  23 Jan. 2019
TY  - JOUR
AU  - Liu, Yixiang 
AU  - Zang, Xizhe 
AU  - Lin, Zhenkun 
AU  - Liu, Xinyu 
AU  - Zhao, Jie 
PY  - 2017
TI  - Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2016.4027
KW  - asymmetric hysteresis; length/pressure hysteresis; modified Prandtl-Ishlinskii model; pneumatic artificial muscles; recursive least mean square algorithm
N2  - Pneumatic artificial muscles have been widely used in various fields owing to their inherent compliance and high power-to-weight ratio. However, the natural hysteresis nonlinearity including length/pressure hysteresis and force/pressure hysteresis degrades their performance in precise tracking control, making it necessary to build a mathematical hysteresis model for hysteresis compensation. This paper deals with the modelling of length/pressure hysteresis of pneumatic artificial muscles. The length/pressure hysteresis loops measured by the isotonic test are found to be asymmetric and independent of the external load when the load is small. Considering that the classical Prandtl-Ishlinskii model is only effective for symmetric hysteresis, a modified Prandtl-Ishlinskii model is proposed to describe the length/pressure hysteresis behaviour. The developed model utilizes two asymmetric operators with simple mathematical forms to independently model the ascending branch and descending branch of hysteresis loops. The model parameters are identified using the recursive least square algorithm. Comparisons between simulation results and experimental measurements demonstrate that the proposed model can characterize the asymmetric major hysteresis loop and minor hysteresis loops with high accuracy.
UR  - https://www.sv-jme.eu/article/modelling-lengthpressure-hysteresis-of-a-pneumatic-artificial-muscle-using-a-modified-prandtl-ishlinskii-model/
@article{{sv-jme}{sv-jme.2016.4027},
	author = {Liu, Y., Zang, X., Lin, Z., Liu, X., Zhao, J.},
	title = {Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {63},
	number = {1},
	year = {2017},
	doi = {10.5545/sv-jme.2016.4027},
	url = {https://www.sv-jme.eu/article/modelling-lengthpressure-hysteresis-of-a-pneumatic-artificial-muscle-using-a-modified-prandtl-ishlinskii-model/}
}
TY  - JOUR
AU  - Liu, Yixiang 
AU  - Zang, Xizhe 
AU  - Lin, Zhenkun 
AU  - Liu, Xinyu 
AU  - Zhao, Jie 
PY  - 2018/06/27
TI  - Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 63, No 1 (2017): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2016.4027
KW  - asymmetric hysteresis, length/pressure hysteresis, modified Prandtl-Ishlinskii model, pneumatic artificial muscles, recursive least mean square algorithm
N2  - Pneumatic artificial muscles have been widely used in various fields owing to their inherent compliance and high power-to-weight ratio. However, the natural hysteresis nonlinearity including length/pressure hysteresis and force/pressure hysteresis degrades their performance in precise tracking control, making it necessary to build a mathematical hysteresis model for hysteresis compensation. This paper deals with the modelling of length/pressure hysteresis of pneumatic artificial muscles. The length/pressure hysteresis loops measured by the isotonic test are found to be asymmetric and independent of the external load when the load is small. Considering that the classical Prandtl-Ishlinskii model is only effective for symmetric hysteresis, a modified Prandtl-Ishlinskii model is proposed to describe the length/pressure hysteresis behaviour. The developed model utilizes two asymmetric operators with simple mathematical forms to independently model the ascending branch and descending branch of hysteresis loops. The model parameters are identified using the recursive least square algorithm. Comparisons between simulation results and experimental measurements demonstrate that the proposed model can characterize the asymmetric major hysteresis loop and minor hysteresis loops with high accuracy.
UR  - https://www.sv-jme.eu/article/modelling-lengthpressure-hysteresis-of-a-pneumatic-artificial-muscle-using-a-modified-prandtl-ishlinskii-model/
Liu, Yixiang, Zang, Xizhe, Lin, Zhenkun, Liu, Xinyu, AND Zhao, Jie.
"Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 63 Number 1 (27 June 2018)

Authors

Affiliations

  • Harbin Institute of Technology, State Key Laboratory of Robotics and System, China
  • Harbin Institute of Technology, State Key Laboratory of Robotics and System, China
  • Harbin Institute of Technology, State Key Laboratory of Robotics and System, China
  • Harbin Institute of Technology, State Key Laboratory of Robotics and System, China
  • Harbin Institute of Technology, State Key Laboratory of Robotics and System, China

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 63(2017)1, 56-64

10.5545/sv-jme.2016.4027

Pneumatic artificial muscles have been widely used in various fields owing to their inherent compliance and high power-to-weight ratio. However, the natural hysteresis nonlinearity including length/pressure hysteresis and force/pressure hysteresis degrades their performance in precise tracking control, making it necessary to build a mathematical hysteresis model for hysteresis compensation. This paper deals with the modelling of length/pressure hysteresis of pneumatic artificial muscles. The length/pressure hysteresis loops measured by the isotonic test are found to be asymmetric and independent of the external load when the load is small. Considering that the classical Prandtl-Ishlinskii model is only effective for symmetric hysteresis, a modified Prandtl-Ishlinskii model is proposed to describe the length/pressure hysteresis behaviour. The developed model utilizes two asymmetric operators with simple mathematical forms to independently model the ascending branch and descending branch of hysteresis loops. The model parameters are identified using the recursive least square algorithm. Comparisons between simulation results and experimental measurements demonstrate that the proposed model can characterize the asymmetric major hysteresis loop and minor hysteresis loops with high accuracy.

asymmetric hysteresis; length/pressure hysteresis; modified Prandtl-Ishlinskii model; pneumatic artificial muscles; recursive least mean square algorithm