This paper introduces a full system modeling strategy for a syringe pump and soft pneumatic actuators(SPAs). The soft actuator is conceptualized as a beam structure, utilizing a second-order bending model. The equation of natural frequency is derived from Euler's bending theory, while the damping ratio is estimated by fitting step responses of soft pneumatic actuators. Evaluation of model uncertainty underscores the robustness of our modeling methodology. To validate our approach, we deploy it across four prototypes varying in dimensional parameters. Furthermore, a syringe pump is designed to drive the actuator, and a pressure model is proposed to construct a full system model. By employing this full system model, the Linear-Quadratic Regulator (LQR) controller is implemented to control the soft actuator, achieving high-speed responses and high accuracy in both step response and square wave function response tests. Both the modeling method and the LQR controller are thoroughly evaluated through experiments. Lastly, a gripper, consisting of two actuators with a feedback controller, demonstrates stable grasping of delicate objects with a significantly higher success rate.

翻译：本文提出了一种针对注射泵和软体气动执行器（SPAs）的完整系统建模策略。将软体执行器概念化为梁结构，采用二阶弯曲模型。固有频率方程基于欧拉弯曲理论推导，而阻尼比则通过拟合软体气动执行器的阶跃响应进行估计。模型不确定性评估凸显了我们建模方法的鲁棒性。为验证该方法，我们将其应用于四个尺寸参数各异的原型上。此外，设计了驱动执行器的注射泵，并提出压力模型以构建完整系统模型。通过采用该完整系统模型，实现了线性二次型调节器（LQR）控制器对软体执行器的控制，在阶跃响应和方波函数响应测试中均实现了高速响应与高精度。通过实验对建模方法与LQR控制器进行了全面评估。最后，由两个执行器与反馈控制器组成的夹爪，在抓取易碎物体时表现出稳定的抓取能力，且成功率显著提高。