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Enhanced-PID Control Based Antagonistic Control For Pneumatic Artificial Muscle Actuators

Pneumatic artificial muscle (PAM) is a rubber tube clothed with a sleeve made of twisted fiber-code, and is fixed at both ends by fixture. It has a property like a spring, which enables it to change its own compliance by the inner air pressure. The advantages of pneumatic system such as high power-t...

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Main Author: Tan, Ming Hui
Format: Thesis
Language:English
English
Published: 2016
Subjects:
T Technology (General)
TJ Mechanical engineering and machinery
Online Access:http://eprints.utem.edu.my/id/eprint/18364/1/Enhanced-PID%20Control%20Based%20Antagonistic%20Control%20For%20Pneumatic%20Artificial%20Muscle%20Actuators.pdf
http://eprints.utem.edu.my/id/eprint/18364/2/Enhanced-PID%20Control%20Based%20Antagonistic%20Control%20For%20Pneumatic%20Artificial%20Muscle%20Actuators.pdf
http://eprints.utem.edu.my/id/eprint/18364/
https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=100187
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spelling my.utem.eprints.183642021-10-10T15:59:25Z http://eprints.utem.edu.my/id/eprint/18364/ Enhanced-PID Control Based Antagonistic Control For Pneumatic Artificial Muscle Actuators Tan, Ming Hui T Technology (General) TJ Mechanical engineering and machinery Pneumatic artificial muscle (PAM) is a rubber tube clothed with a sleeve made of twisted fiber-code, and is fixed at both ends by fixture. It has a property like a spring, which enables it to change its own compliance by the inner air pressure. The advantages of pneumatic system such as high power-to-weight ratio, compactness, ease of maintenance, inherent safety and cleanliness led to the development of McKibben muscle and PAM actuators. However, the drawbacks of PAM, for example, the air compressibility and the lack of damping ability of PAM bring dynamic delay to the pressure response and cause oscillatory motion to occur. It is not easy to realize the PAM motion with high accuracy and high speed due to all the non-linear characteristics of pneumatic mechanism. In this thesis, an antagonistic-based PAM system is designed and presented. Two identical PAM actuators are connected in parallel and vertical direction which imitate the human biceps-triceps system and emphasize the analogy between the artificial muscle and human skeletal muscle behavior. Some past control algorithms on the positioning control of PAM mechanisms are discussed. In this thesis, a practical control method, namely enhanced-PID controller is proposed to control the trajectory motion of the PAM actuators. The development and modeling of the experiment setup are explained, followed by the driving characteristics of the PAM system. Two simple and straight forward steps are demonstrated as the design procedures of the enhanced-PID controller. The control structure of the proposed controller consists of a PID element, Compensator A and Compensator B. The effectiveness of the proposed control algorithm is validated in sinusoidal continuous motion. The tracking performance of the enhanced-PID controller is compared with a classic PID controller, showing that the control performance of the enhanced-PID controller is satisfactory and better in dealing with highly non-linear PAM system. 2016 Thesis NonPeerReviewed text en http://eprints.utem.edu.my/id/eprint/18364/1/Enhanced-PID%20Control%20Based%20Antagonistic%20Control%20For%20Pneumatic%20Artificial%20Muscle%20Actuators.pdf text en http://eprints.utem.edu.my/id/eprint/18364/2/Enhanced-PID%20Control%20Based%20Antagonistic%20Control%20For%20Pneumatic%20Artificial%20Muscle%20Actuators.pdf Tan, Ming Hui (2016) Enhanced-PID Control Based Antagonistic Control For Pneumatic Artificial Muscle Actuators. Masters thesis, Universiti Teknikal Malaysia Melaka. https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=100187
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
English
topic T Technology (General)
TJ Mechanical engineering and machinery
spellingShingle T Technology (General)
TJ Mechanical engineering and machinery
Tan, Ming Hui
Enhanced-PID Control Based Antagonistic Control For Pneumatic Artificial Muscle Actuators
description Pneumatic artificial muscle (PAM) is a rubber tube clothed with a sleeve made of twisted fiber-code, and is fixed at both ends by fixture. It has a property like a spring, which enables it to change its own compliance by the inner air pressure. The advantages of pneumatic system such as high power-to-weight ratio, compactness, ease of maintenance, inherent safety and cleanliness led to the development of McKibben muscle and PAM actuators. However, the drawbacks of PAM, for example, the air compressibility and the lack of damping ability of PAM bring dynamic delay to the pressure response and cause oscillatory motion to occur. It is not easy to realize the PAM motion with high accuracy and high speed due to all the non-linear characteristics of pneumatic mechanism. In this thesis, an antagonistic-based PAM system is designed and presented. Two identical PAM actuators are connected in parallel and vertical direction which imitate the human biceps-triceps system and emphasize the analogy between the artificial muscle and human skeletal muscle behavior. Some past control algorithms on the positioning control of PAM mechanisms are discussed. In this thesis, a practical control method, namely enhanced-PID controller is proposed to control the trajectory motion of the PAM actuators. The development and modeling of the experiment setup are explained, followed by the driving characteristics of the PAM system. Two simple and straight forward steps are demonstrated as the design procedures of the enhanced-PID controller. The control structure of the proposed controller consists of a PID element, Compensator A and Compensator B. The effectiveness of the proposed control algorithm is validated in sinusoidal continuous motion. The tracking performance of the enhanced-PID controller is compared with a classic PID controller, showing that the control performance of the enhanced-PID controller is satisfactory and better in dealing with highly non-linear PAM system.
format Thesis
author Tan, Ming Hui
author_facet Tan, Ming Hui
author_sort Tan, Ming Hui
title Enhanced-PID Control Based Antagonistic Control For Pneumatic Artificial Muscle Actuators
title_short Enhanced-PID Control Based Antagonistic Control For Pneumatic Artificial Muscle Actuators
title_full Enhanced-PID Control Based Antagonistic Control For Pneumatic Artificial Muscle Actuators
title_fullStr Enhanced-PID Control Based Antagonistic Control For Pneumatic Artificial Muscle Actuators
title_full_unstemmed Enhanced-PID Control Based Antagonistic Control For Pneumatic Artificial Muscle Actuators
title_sort enhanced-pid control based antagonistic control for pneumatic artificial muscle actuators
publishDate 2016
url http://eprints.utem.edu.my/id/eprint/18364/1/Enhanced-PID%20Control%20Based%20Antagonistic%20Control%20For%20Pneumatic%20Artificial%20Muscle%20Actuators.pdf
http://eprints.utem.edu.my/id/eprint/18364/2/Enhanced-PID%20Control%20Based%20Antagonistic%20Control%20For%20Pneumatic%20Artificial%20Muscle%20Actuators.pdf
http://eprints.utem.edu.my/id/eprint/18364/
https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=100187
_version_ 1715193893118541824
score 13.211869

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