Air-actuated muscle motion analog control platform device and posture control method

Abstract

The disclosed aerodynamic muscle motion simulation control platform comprises: three very same pieces of aerodynamic muscles connected to a central post and a fixed platform, a motion platform hinged to the muscles with uniform-distributed hinge points, and the central post to rigid connect with the fixed platform and hinge the motion platform through a central ball hinge with the hinge point on platform center to endow the motion platform two rotation DOF. Besides, the control system comprises an input conversion module, a controller, and an output drive amplification module. This invention is fit to different motion simulation.

Description

technical field [0001] The invention relates to a simulation control platform, in particular to a pneumatic muscle motion simulation control platform device and a pose control method. Background technique [0002] The parallel multi-degree-of-freedom motion simulator can simulate the motion of objects such as space vehicles, ground vehicles, and ships to achieve the purposes of testing, training, and entertainment. Traditional parallel multi-degree-of-freedom motion simulators are driven by hydraulic pressure or electric motors, which have the disadvantages of heavy weight, high energy consumption, and high cost. Due to the advantages of light weight, small size, low cost, simple maintenance, clean and pollution-free, and good adaptability to the working environment, pneumatic control has gradually been applied in parallel multi-degree-of-freedom motion simulators, such as pneumatic gravity balance motion simulators ( ZL 03150629.1). However, due to the friction of the cyl...

AI Technical Summary

Problems solved by technology

From the perspective of control, aerodynamic muscles are highly nonlinear and time-varying in parameters, such as modeling error of aerodynamic muscle stretching force model, friction force changing with pressure, hysteresis, etc., which bring certain challenges to aerodynamic muscle control sex

Moreover, the pneumatic muscle movement simulation control platform device system is multi-input and multi-output coupling, which is not suitable for position control with the traditional single-input and single-output pneumatic muscle system model.

In addition, in addition to the nonlinear factors of the aerodynamic muscles, the system also has unfavorable factors such as the modeling error of the pressure dynamic equation of the cavity and the strong nonlinearity of the entire pneumatic system.

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