基于Bouc-Wen修正模型的柔性关节驱动器迟滞建模

许明,张帝,戎铖,苏礼荣,王万强

Modified Bouc-Wen based hysteresis modeling of flexible joint actuator

Ming XU,Di ZHANG,Cheng RONG,Li-rong SU,Wan-qiang WANG

表 2 改进Bouc-Wen模型参数表

Tab.2 Parameters of modified Bouc-Wen model

p/kPa A β n γ φ 60 3.102 −12.030 0.251 −10.110 3.249 80 1.674 −6.137 0.500 −5.615 1.965 100 0.625 0.004 4.440 0.004 1.845 120 0.350 1.265 −2.416 −1.277 0.494