The Hysteresis Modeling of Pneumatic Muscle Based on Least Squares Support Vector Machine Approach
XIE Sheng-long1,2,3,4, ZHANG Wen-xin2, LU Yu-jun4, ZHANG Wei-min2, ZHU Jun-jiang1, LIN Li5, REN Guo-yin3
1.School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, Zhejiang 310018, China
2.Zhejiang Xizi Heavy Machinery Co. Ltd., Jiaxing, Zhejiang 314423, China
3.National Institute of Metrology, Beijing 100029, China
4.Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China
5.CSCEC strait Construction and Development Co. Ltd., Fuzhou, Fujian 350015
Abstract：The traditional hysteresis modeling methods have series problems such as many parameters to be identified, complex parameter identification process and low identification accuracy, thus the least squares support vector machine (LS-SVM) approach is proposed to characterize the hysteresis phenomenon of pneumatic muscle(PM). The method maps the original data space to the high-dimensional space by non-linear mapping, thus the non-linear problem of the original system is transformed into a linear problem in the high-dimensional space, the least square method is used to solve the system of linear equations, which improves the speed of solution and convergence accuracy. Based on the experiments, the mathematical model of displacement/pressure hysteresis on PM was established by using LS-SVM method, the calculation results showed that the mathematical model established by LS-SVM has higher modeling accuracy and various error indices such as mean variance and mean error are significantly reduced, which reduce 99.21% and 99.1% respectively compared with the classical PI model. The method providing an effective means for subsequent hysteresis compensation control of PM.
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2020, Vol. 41 
