用SOFA框架模拟气动变形软旋翼，实现动态控制与形变仿真。
Modeling and Control of a Pneumatic Morphing Soft Quadrotor based on the SOFA Framework for Dynamic Soft Robotic Simulation
- 基于SOFA的有限元法建模，用四面体网格模拟软臂弹性行为。
- 气动驱动通过周期与误差信号控制，实现软臂形变与位置调节。
- 采用比例积分控制器，验证了系统对目标位置的精准控制能力。
本文提出一种基于SOFA的有限元方法，用于气动变形软旋翼的柔性体建模、动态仿真与控制。所提模型保留了传统旋翼的动力学可解释性与控制结构，同时捕捉气动驱动软臂复杂的时变特性。在SOFA中，软臂被离散为遵循弹性材料定律的四面体网格，生成符合真实动态行为的内力。通过内部腔体施加周期性与基于误差的控制信号，分析其形变能力。最后设计比例-积分控制器，调控气动驱动以实现软臂向目标位置的精确运动。仿真结果验证了该建模框架与控制器设计的有效性。
原文摘要 · Abstract (English)
This article presents a novel SOFA based finite element method for the soft body modeling and the corresponding dynamic simulation and control of a pneumatic morphing soft quadrotor. The proposed modeling preserves the physical interpretability and control structure of traditional quadrotor dynamics, while capturing the complex, time-varying behavior of pneumatically actuated soft arms. In SOFA, the soft pneumatically actuated arms are discretized as a tetrahedral mesh following an elastic material law that produces internal forces adequate to the real dynamic behavior of the body. Pneumatic actuation governed by both periodic and error-based control signals is applied within the internal cavities to analyze the morphing capability. Finally, a proportional-integral controller is proposed to study the controlled dynamic behavior and morphing capabilities of the pneumatic arm, wherein the pneumatic actuation to the soft arm is controlled to achieve the desired target position. The simulation results show the effectiveness of the proposed novel modeling framework and the related controller design.
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