摘  要：在氣動人工肌肉的靜態建模中，為尋找拉力與氣壓和位移的函數關系，該文利用訓練后的BP神經網絡預測氣動人工肌肉輸出力。將準靜態實驗獲得的氣壓、位移和對應的輸出拉力代入BP神經網絡進行訓練，得到氣動人工肌肉的BP神經網絡靜態模型。預測結果表明，預測拉力與試驗測得拉力相關系數達0.99以上，且通過BP神經網絡預測拉力與實測拉力誤差率在較大收縮范圍內維持在較低水平，從而證明根據BP神經網絡預測拉力的靜態模型是可行的。

關鍵詞：氣動肌肉；驅動器；BP神經網絡；輸出力；預測

文獻標志碼：A       文章編號：1674-5124（2015）12-0115-04

Application of BP neural networks in force prediction of pneumatic muscle actuators

GU Baotong， LIU Kai， MA Tao

（College of Mechanical and Electrical Engineering，Nanjing University of Aeronautics and Astronautics，

Nanjing 210016，China）

Abstract: To find out the function relationship among force， pressure and displacement in static models of pneumatic muscle actuators， the trained BP neural network is used to predict the force of pneumatic muscle actuators in the paper. To be specific， these data obtained through quasi-static experiment are trained in the BP neural network to get a BP neural network-based static model for pneumatic muscle actuators. Prediction results show that the correlation coefficient between the predicted and experimental force is higher than 0.99 and the error rate is confined in a relative low level for a wide range of contraction. The static model is therefore proven feasible.

Keywords: pneumatic muscle； actuator； BP neural network； output force； prediction