CN-121973211-A - Pneumatic muscle driving joint force position control method, equipment and medium based on fuzzy admittance

CN121973211ACN 121973211 ACN121973211 ACN 121973211ACN-121973211-A

Abstract

The invention discloses a pneumatic muscle driving joint force position control method, equipment and medium based on fuzzy admittance. According to the invention, firstly, through dynamic adjustment of the fuzzy admittance model, accurate cooperative control of joint position and output force is effectively realized. Then, by monitoring the influence of external disturbance on the joint in real time, the self-adaption capability of the system to the external disturbance is enhanced. The fuzzy admittance model dynamically adjusts admittance parameters according to the data, so that the control requirements of force and position are balanced, and the system can still maintain a preset control effect under the disturbance condition. Finally, the invention combines real-time monitoring data and expected control instructions through closed loop feedback control, continuously adjusts admittance parameters, and enhances the stability and robustness of the system in complex dynamic environments.

Inventors

CUI XIAOHONG
Wan Zimeng
GUO HAITAO
SUN JUN
LIU SHAOLING
LEI SEN

Assignees

中国计量大学

Dates

Publication Date: 20260505
Application Date: 20260204

Claims (10)

1. The pneumatic muscle driving joint force position cooperative control method based on fuzzy admittance is characterized by comprising the following steps of: Step 1, acquiring joint state information in real time, and calculating joint state input data; Step 2, constructing a dynamic adjustment relation between a mapping input variable of a fuzzy admittance model and admittance parameters according to the joint state input data to obtain real-time correction values of the joint admittance parameters; step 3, combining the real-time correction value with a preset reference admittance parameter, and calculating an expected admittance parameter at the current moment; Step 4, combining the expected admittance parameter, the expected track of the joint and the expected force target, and generating a force bit cooperative control instruction through an admittance control algorithm; and step 5, transmitting the force-position cooperative control instruction to an executing mechanism, dynamically adjusting admittance parameters in real time, and repeating the steps to form closed loop feedback control.
2. The method according to claim 1, wherein the step1 comprises: According to a position sensor, a force sensor and an external disturbance detection device which are arranged on a pneumatic muscle driving joint, synchronously acquiring the current actual position and the actual output force of the joint and dynamic disturbance force data applied to the joint by an external environment; and calculating joint state input data according to the acquired data, wherein the joint state input data comprises position errors between the expected position and the actual position of the joint, force errors between the actual output force and the expected output force and the change rate of external disturbance force.
3. The method according to claim 1, wherein the step 2 is specifically: Establishing a fuzzy admittance model based on the nonlinear characteristics of the pneumatic muscle driving joint and the uncertainty of external disturbance; and taking the joint state input data as a fuzzy input variable through a fuzzy rule base, calculating a dynamic correction coefficient of the admittance parameter, and outputting a real-time correction value of the joint admittance parameter according to the obtained coefficient.
4. The method of claim 3, wherein the fuzzy rule base is established based on experimental data of force-displacement-pressure coupling characteristics of pneumatic muscles, and is used for fuzzifying and characterizing admittance parameters under different disturbance scenes by combining expert experience, introducing an online learning mechanism, and dynamically adjusting the fuzzy rule according to historical data and real-time feedback.
5. The method according to claim 3 or 4, wherein the reasoning means of the fuzzy rule base comprises: S1, blurring, namely converting an input actual numerical value into a fuzzy set; s2, reasoning, namely utilizing a fuzzy rule base to perform reasoning and determining the matching degree of each rule; and S3, deblurring, namely converting the matching degree of each rule into a dynamic correction coefficient of an actual admittance parameter by adopting a weighted average method.
6. The method of claim 3, wherein the calculation of the desired admittance parameter includes multiplying the input data of each joint state by its corresponding correction coefficient, adding the multiplied input data to obtain a real-time correction value, and adding the real-time correction value to the reference admittance parameter to obtain the desired admittance parameter at the current time.
7. The method of claim 1, wherein the force level cooperative control command includes a pneumatic muscle air pressure adjustment command and an articulation direction control command; the air pressure adjusting instruction is determined through a reverse thrust pneumatic muscle force-pressure relation model; the joint movement direction control instruction dynamically adjusts the association relation between the joint position error and the admittance parameter to realize the cooperative control of the joint position and the output force.
8. The method according to claim 1 or 7, wherein the step 5 is specifically: Transmitting the expected admittance parameter and the force position cooperative control instruction to an actuating mechanism of a pneumatic muscle driving system to drive the joint to move; In the joint executing process, the change of the actual position and the actual output force of the joint is continuously monitored, the latest monitoring data is used as joint state input data of the next period, and the steps 1 to 4 are repeated to form closed loop feedback control.
9. The electronic equipment for cooperatively controlling the force and the position of the pneumatic muscle driving joint based on the fuzzy admittance is characterized by comprising a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the cooperative control method for the force and the position of the pneumatic muscle driving joint based on the fuzzy admittance according to any one of claims 1-8 when executing the program.
10. A computer readable storage medium, wherein the storage medium stores a computer program for executing a fuzzy admittance-based pneumatic muscle driving joint force bit cooperative control method according to any one of the preceding claims 1-8.

Description

Pneumatic muscle driving joint force position control method, equipment and medium based on fuzzy admittance Technical Field The invention belongs to the technical field of pneumatic muscle robot control, and particularly relates to a pneumatic muscle driving joint force position control method, equipment and medium based on fuzzy admittance. Background Pneumatic muscle is taken as a typical flexible driver, and by virtue of inherent flexibility, high power-weight ratio and bionic characteristics, the pneumatic muscle has good application prospect in the fields of rehabilitation robots, cooperative robots, anthropomorphic robot driving joints and the like. However, pneumatic muscle-driven joints are a complex system with significant non-linear, time-varying and hysteresis properties, and their precise force and position control is always a technical difficulty. When the conventional control method faces the problems, it is often difficult to ensure high-precision position tracking and flexible force interaction performance. Admittance control is used as a common framework, and dynamic interaction behavior of a robot can be defined by adjusting a virtual admittance model (mass-damping-stiffness), and external force errors are converted into expected position adjustment amounts, so that compliant control is realized. However, conventional admittance control parameters are typically fixed values. Therefore, it is needed to construct a collaborative adaptive control framework for integrating fuzzy reasoning and admittance control, and adaptively adjust parameters of a controller through a fuzzy control idea so as to adapt to a complex environment, and meanwhile, maintain stability of physical human-computer interaction. Disclosure of Invention In order to solve the problems in the prior art, the invention provides a pneumatic muscle driving joint force position control method, equipment and medium based on fuzzy admittance, which are focused on optimizing the force position mixed control of a pneumatic muscle driving joint, and design an admittance parameter capable of being self-adaptively and dynamically adjusted, so that the wide and flexible force interaction capability is realized while the position tracking precision is ensured, and the method is a key for improving the operation performance of the pneumatic muscle driving joint in a complex and unstructured environment. The first aspect of the invention provides a pneumatic muscle driving joint force position cooperative control method based on fuzzy admittance, which comprises the following steps: Step 1, acquiring joint state information in real time, and calculating joint state input data; Step 2, constructing a dynamic adjustment relation between a mapping input variable of a fuzzy admittance model and admittance parameters according to the joint state input data to obtain real-time correction values of the joint admittance parameters; step 3, combining the real-time correction value with a preset reference admittance parameter, and calculating an expected admittance parameter at the current moment; Step 4, combining the expected admittance parameter, the expected track of the joint and the expected force target, and generating a force bit cooperative control instruction through an admittance control algorithm; and step 5, transmitting the force-position cooperative control instruction to an executing mechanism, dynamically adjusting admittance parameters in real time, and repeating the steps to form closed loop feedback control. The invention provides an electronic device for cooperatively controlling force and position of a pneumatic muscle driving joint based on fuzzy admittance, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the force and position cooperative control method when executing the program. A third aspect of the present invention provides a computer-readable storage medium storing a computer program for executing the above-described force bit cooperative control method. Based on the above, compared with the prior art, the invention has the following beneficial effects: (1) According to the invention, through dynamic adjustment of the fuzzy admittance model, accurate cooperative control of joint position and output force is effectively realized. The model dynamically calculates expected admittance parameters by collecting state information of joints in real time, generates force and position cooperative control instructions based on the parameters, and flexibly adjusts control strategies according to input data changes by adopting a fuzzy reasoning method, so that the system can accurately control motion track and load output of the joints in a complex dynamic environment. The accurate force and position control greatly improves the response precision and stability of the system, and can meet the application scene with high precisi