### 航天服关节力矩的数学模型

1. 中国航天员科研训练中心 人因工程重点实验室, 北京 100094
• 收稿日期:2014-04-15 修回日期:2014-08-21 出版日期:2015-03-15 发布日期:2015-03-31
• 通讯作者: 张万欣 女,研究员。主要研究方向:人机与环境工程、航天服工程。Tel: 010-66362330 E-mail: zhangwanxin-2009@sina.com E-mail:zhangwanxin-2009@sina.com
• 作者简介:张新军 男,硕士研究生。主要研究方向:人机与环境工程、航天服工程。Tel: 010-66362326-19 E-mail: zhangxinjun@outlook.com
• 基金资助:

航天科技创新基金

### Mathematical model for spacesuit joint torque

ZHANG Xinjun, LI Tanqiu, ZHANG Wanxin, LI Yuanfeng

1. National Laboratory of Human Factors Engineering, China Astronaut Research and Training Center, Beijing 100094, China
• Received:2014-04-15 Revised:2014-08-21 Online:2015-03-15 Published:2015-03-31
• Supported by:

Aerospace Science and Technology Innovation Fund

Abstract:

The mathematical model of spacesuit joint torque makes a significant disparity in the prediction of extra-vehicular activity (EVA) task intensity, fatigue estimation of astronaut and planning EVA route. Firstly, the hysteresis of joint torque is analyzed and the requirement of the joint torque model application is stated. The Jiles-Atherton hysteresis model, as well as the relevance with hysteresis property of joint torque, is detailed. Then the simulated annealing is adopted to improve the genetic algorithm, which is realized by MATLAB. Finally, the mathematical models of the EVA spacesuit wrist joint torque and shoulder joint torque are simulated. The consequence of simulation elucidates that the mathematical model of spacesuit joint torque is feasible. What is more, the mathematical model of spacesuit joint torque will have a wide application in the research of spacesuit ergonomic and other fields.