Jiles-Atherton-Based Hysteresis Identification of Joint Resistant Torque in Active Spacesuit Using SA-PSO Algorithm
To eliminate the influence of spacesuits’ joint resistant torque on the operation of astronauts, an active spacesuit scheme based on the joint-assisted exoskeleton technology is proposed. Firstly, we develop a prototype of the upper limb exoskeleton robot and theoretically analyse the prototype to m...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2022/7535450 |
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| author | Zhao-yang Li Yue-hong Dai Jun-yao Wang Peng Tang |
| author_facet | Zhao-yang Li Yue-hong Dai Jun-yao Wang Peng Tang |
| author_sort | Zhao-yang Li |
| collection | DOAJ |
| description | To eliminate the influence of spacesuits’ joint resistant torque on the operation of astronauts, an active spacesuit scheme based on the joint-assisted exoskeleton technology is proposed. Firstly, we develop a prototype of the upper limb exoskeleton robot and theoretically analyse the prototype to match astronauts’ motion behavior. Then, the Jiles-Atherton model is adopted to describe the hysteretic characteristic of joint resistant torque. Considering the parameter identification effects in the Jiles-Atherton model and the local optimum problem of the basic PSO (particle swarm optimization) algorithm, a SA- (simulated annealing-) PSO algorithm is proposed to identify the Jiles-Atherton model parameters. Compared with the modified PSO algorithm, the convergence rate of the designed SA-PSO algorithm is advanced by 6.25% and 20.29%, and the fitting accuracy is improved by 14.45% and 46.5% for upper limb joint model. Simulation results show that the identified J-A model can show good agreements with the measured experimental data and well predict the unknown joint resistance torque. |
| format | Article |
| id | doaj-art-9bc0a0b51a884a2cb259ff6f61e6aa81 |
| institution | Kabale University |
| issn | 1687-5974 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-9bc0a0b51a884a2cb259ff6f61e6aa812025-02-03T01:25:22ZengWileyInternational Journal of Aerospace Engineering1687-59742022-01-01202210.1155/2022/7535450Jiles-Atherton-Based Hysteresis Identification of Joint Resistant Torque in Active Spacesuit Using SA-PSO AlgorithmZhao-yang Li0Yue-hong Dai1Jun-yao Wang2Peng Tang3School of Aeronautics and AstronauticsSchool of Aeronautics and AstronauticsSchool of Aeronautics and AstronauticsSchool of Aeronautics and AstronauticsTo eliminate the influence of spacesuits’ joint resistant torque on the operation of astronauts, an active spacesuit scheme based on the joint-assisted exoskeleton technology is proposed. Firstly, we develop a prototype of the upper limb exoskeleton robot and theoretically analyse the prototype to match astronauts’ motion behavior. Then, the Jiles-Atherton model is adopted to describe the hysteretic characteristic of joint resistant torque. Considering the parameter identification effects in the Jiles-Atherton model and the local optimum problem of the basic PSO (particle swarm optimization) algorithm, a SA- (simulated annealing-) PSO algorithm is proposed to identify the Jiles-Atherton model parameters. Compared with the modified PSO algorithm, the convergence rate of the designed SA-PSO algorithm is advanced by 6.25% and 20.29%, and the fitting accuracy is improved by 14.45% and 46.5% for upper limb joint model. Simulation results show that the identified J-A model can show good agreements with the measured experimental data and well predict the unknown joint resistance torque.http://dx.doi.org/10.1155/2022/7535450 |
| spellingShingle | Zhao-yang Li Yue-hong Dai Jun-yao Wang Peng Tang Jiles-Atherton-Based Hysteresis Identification of Joint Resistant Torque in Active Spacesuit Using SA-PSO Algorithm International Journal of Aerospace Engineering |
| title | Jiles-Atherton-Based Hysteresis Identification of Joint Resistant Torque in Active Spacesuit Using SA-PSO Algorithm |
| title_full | Jiles-Atherton-Based Hysteresis Identification of Joint Resistant Torque in Active Spacesuit Using SA-PSO Algorithm |
| title_fullStr | Jiles-Atherton-Based Hysteresis Identification of Joint Resistant Torque in Active Spacesuit Using SA-PSO Algorithm |
| title_full_unstemmed | Jiles-Atherton-Based Hysteresis Identification of Joint Resistant Torque in Active Spacesuit Using SA-PSO Algorithm |
| title_short | Jiles-Atherton-Based Hysteresis Identification of Joint Resistant Torque in Active Spacesuit Using SA-PSO Algorithm |
| title_sort | jiles atherton based hysteresis identification of joint resistant torque in active spacesuit using sa pso algorithm |
| url | http://dx.doi.org/10.1155/2022/7535450 |
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