System for accurate dynamic model of actuator based on pneumatic artificial muscles

摘要

System for refining a dynamic actuator model based on pneumatic artificial muscles, comprising a wake-up signal block (1), an input / output communication block (2), a signal processing block (3), an block (4) analytical model actuator, block (5) differential member, recurrent neural network block (6), pneumatic artificial muscle actuator block (7), angle displacement sensor block (8), blocks (9) and (10) muscle and block force sensors (11), and (12) muscle pressure sensors. The input / output communication block (2) provides an interaction between the PC and the actuator, its output being input to the pneumatic artificial actuator block (7) and to the signal processing block (3) whose output is matched to the output from block (4) of the actuator analytical model in block (5) of the differential member. The output of this block is an input to a recurrent neural network block (6) for obtaining an estimate of disturbance variables based on input data obtained by actuating the actuator block (1).