Research on the stability of PAM in the improved PID control model based on Kalman filter

Exoskeleton robots in the field of human-machine interaction have been widely used in the rehabilitation of patients with muscle damage. Exoskeleton refers to a wearable mechanical structure that uses energy provided by the outside world or a passive mechanical structure to save effort for the wearer to move during the wearing process and even drive the wearer to move, so as to facilitate the patient to do rehabilitation exercises. This study talks about a new kind of nonlinear bionic actuator called artificial pneumatic muscle (PAM). PAM is a type of driver that is clean and safe, has a high power density, and is flexible. This system has a very large nonlinearity, though, because the connection between the driving air pressure (or voltage) of PAM and its own contraction volume is very complicated and changes all the time. The PAM ternary model is looked at in this work. This model compares PAM to a structure with three parallel units: a damping unit, a spring unit, and a contraction unit. In order to come up with a controller for this system, this paper simplifies the model as needed and only looks at the nearly linear system close to the steady working point. In skeleton robot systems, the PID controller is the one that is used most often. Based on earlier research, this paper uses the Kalman Filter module to get rid of the effects of Measurement Noise and Process on the system in PID and PAM control systems. This makes the overshoot of the system output signal -7% to 4% when the input signal is a square wave signal 1, and -12% to 3% when the input signal is a square wave signal 0. There is a big increase in the security of the system.