Affiliation:
1. Anhui University of Technology
Abstract
Abstract
Tendon sheath transmission system (TSTS) has been widely adopted in many cases due to its characteristics of simple structure, flexible transmission path, and applicability for long-distance power transmission. However, the characteristics of displacement gap and hysteresis inside the tendon sheath seriously hinder its transmission accuracy. In this paper, the static and dynamic models of TSTS were established and experimentally verified. Then, the sliding mode compensation control (SMCC) based on the inverse model has been proposed. In SMCC, with the displacement of the actuation side as a feedback signal, compensation control was realized and its stability and accuracy was experimentally verified. In addition, the perturbation of system parameters might decrease the optimal working performance of the sliding mode controller. Therefore, an adaptive sliding mode compensation control (ASMCC) based on an inverse model was proposed. The adaptive control algorithm was used to estimate the dynamic parameters of the system online and combined with the sliding mode controller to achieve the adaptive compensation control. Finally, compensation control experiments were separately conducted with/without interference and the performance of PID, SMC, and ASMC algorithms was experimentally compared. Under two experimental conditions with/without interference, compared to PID compensation control (PIDCC), SMC algorithm respectively decreased the system output force (MAE value) by 26.57% and 56.38%. Compared with SMCC, ASMCC respectively reduced the MAE value of the system output force by 22.34% and 11.14%. Comparative experiments confirmed the feasibility and performance of ASMCC in tendon sheath transmission.
Publisher
Research Square Platform LLC
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