Pneumomuscle dynamic characteristics simulation taking into account the working medium wave processes

The multiple existing mathematical models of a pneumomuscle are making it possible to determine its dynamic characteristics (shell contraction, working medium flow rate and alteration in its pressure) with sufficient accuracy. However, when including a pneumomuscle as part of a sequent or positional system, it becomes necessary to take into account additional factors in modes with high frequencies of the pneumatic control equipment, as the wave processes arising in the shell working medium cause them. The previously developed pneumomuscle models were built on standard equations describing alterations in the working medium flow rate and pressure in the pneumatic systems. Therefore, they were unable to assess the influence of those factors. The paper proposes a model of the pneumomuscle dynamic characteristics taking into account the wave processes, it is constructed using the ordinary differential equations. Simulation results of the proposed model are compared with data obtained using the previously developed model. The comparison revealed significant differences between them (more than 100% in certain cases). The created model increases accuracy in assessing the influence of processes occurring in the pneumomuscle shell on the dynamic characteristics, which is important at the stage of designing a positional system based on the pneumomuscles.
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