Gas-driven actuator hysteresis modeling method, system and medium based on Gaussian model

Abstract

The present invention provides a gas-driven actuator hysteresis modeling method, system and medium based on a Gaussian model, including: step 1: building a gas-driven actuator; step 2: establishing a training model for a gas-driven actuator based on a Gaussian process regression model ; Step 3: Train the training model to obtain the training model parameters; Step 4: Construct the hysteresis model differential equation based on the Gaussian process regression model; Step 5: Solve the hysteresis model differential equation by numerical method according to the training model parameters, and calculate the Prediction; Step 6: Solve the inverse model of the hysteresis model according to the trained training model, compensate the hysteresis nonlinearity, and control the output force of the air-driven actuator by controlling the air pressure. The invention accurately establishes the mathematical model describing the hysteresis without considering the specific shape of the hysteresis loop, and has few parameters, good identification accuracy and high efficiency.

Description

technical field [0001] The present invention relates to the technical field of hysteresis modeling, in particular to a Gaussian model-based hysteresis modeling method, system and medium for pneumatic actuators. In particular, it relates to a hysteresis modeling method for air-driven active power-controlled grinding actuators based on Gaussian process regression. Background technique [0002] Grinding is one of the most common mechanical processing methods. Its purpose is to reduce the surface roughness of the workpiece and improve the flatness of the workpiece surface. It is often used for grinding and polishing of complex parts such as automobile wheels. A common grinding method is to install the grinding disc and its spindle at the end of the industrial robot to meet the requirement of a large working space for workpiece grinding. In the case of selected process parameters, the precise maintenance of the normal contact force between the grinding head and the workpiece at ...

AI Technical Summary

Problems solved by technology

At present, most of the actuator hysteresis modeling methods use phenomenological models, and there are defects such as the selection of the model depends on the shape of the hysteresis loop, and the determination of the model parameters requires strong subjectivity, which affects the identification accuracy and identification efficiency.

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