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航天服关节力矩特性的数学表述是预测航天员出舱(EVA)作业强度、评估航天员疲劳度、规划EVA活动路径的重要基础。首先,分析了关节力矩的特性,提出建立数学模型的要求,阐述了Jiles-Atherton磁滞模型原理,以及磁滞模型与关节力矩特性的相合性。其次,利用模拟退火算法的思想对遗传算法进行了改进,并基于MATLAB软件实现。最终,对EVA航天服腕关节和肩关节力矩进行仿真,得到关节力矩在特定活动角度下的数学模型。仿真结果表明,针对关节力矩迟滞特性所得的关节力矩数学模型,能够更准确地描述关节活动力矩特性,计算所得模型可以更便捷地用于航天服工效学等相关研究领域。
The mathematical expression of the joint torque performance of the spacesuit is an important basis for predicting the work intensity of an astronaut leaving EVA (EVA), assessing the astronaut’s fatigue degree and planning the path of EVA activity. Firstly, the characteristics of joint torque are analyzed, the requirements of establishing mathematical model are put forward, the principle of Jiles-Atherton hysteresis model and the consistency between hysteresis model and joint torque characteristic are expounded. Secondly, using the idea of simulated annealing algorithm, the genetic algorithm is improved and based on MATLAB software. Finally, the simulation of the wrist joint and shoulder joint torque of the EVA space suit is carried out, and the mathematical model of the joint moment under a specific angle of motion is obtained. The simulation results show that the mathematical model of joint moment obtained from the hysteresis of joint torque can describe the joint moment moment more accurately and the calculated model can be more conveniently used in the field of space suit ergonomics and other related fields.