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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Bibliographic Details
Published in:International journal of aerospace engineering 2022-01, Vol.2022, p.1-11
Main Authors: Li, Zhao-yang, Dai, Yue-hong, Wang, Jun-yao, Tang, Peng
Format: Article
Language:English
Subjects:
Accuracy
Aerospace engineering
Algorithms
Astronauts
Design
Exoskeletons
Genetic algorithms
Mathematical models
Parameter identification
Parameter modification
Particle swarm optimization
Personal protective equipment
Prototypes
Robots
Simulated annealing
Space exploration
Space suits
Torque
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Summary: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.
ISSN:1687-5966
1687-5974
DOI:10.1155/2022/7535450