The Sliding Mode Variable Structure Control Of Pneumatic Artificial Muscle Joints

The use of pneumatic muscle actuator in the life and production is wider and wider, scholars pay much attention to the research of pneumatic artificial muscle. Comparing to the traditional drive, pneumatic artificial muscle has small volume, simple structure, safe and reliable, the development space is very considerable.The article introduces the history of the pneumatic artificial muscle, application environment and development prospects. In the light of the theoretical basis, the article uses the pneumatic artificial muscle as the research object, analyses the pneumatic artificial muscle’s static characteristics and dynamic characteristics, getting the static model and dynamic model. Then research the static and dynamic characteristics of the pneumatic artificial joint, getting its static model and dynamic model. In order to facilitate the simulation experiment, simplified the model and get convenient dynamic equation and error equation.The article also introduces the design method and advantage of sliding mode variable structure control theory and the method to overcome the chattering. The article describes the controller’s design of sliding mode variable structure control and improve the pneumatic artificial muscle control system of the nonlinear and uncertainty.In the end, the article summaries the advantages and defects of the model, and analyses the shortage of the sliding mode variable structure control, then raise a tentative plan for the next research work.