Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System
: The System identification (SI) black box method is used in this study to obtain the mathematical model of a fiber braided bending actuator (FBBA) using MATLAB Simulink. Data from the system input and output are used by the black box method. Thus, the voltage supplied to the electro-pneumatic regu...
保存先:
| 主要な著者: | , , , , , |
|---|---|
| フォーマット: | 論文 |
| 言語: | English |
| 出版事項: |
Mdpi
2023
|
| 主題: | |
| オンライン･アクセス: | http://eprints.uthm.edu.my/9817/1/J15890_f2a8e4459b3c3ebfae533ed5e877bce8.pdf http://eprints.uthm.edu.my/9817/ https://doi.org/10.3390/app13053170 |
| タグ: |
タグ追加
タグなし, このレコードへの初めてのタグを付けませんか!
|
| 要約: | : The System identification (SI) black box method is used in this study to obtain the mathematical model of a fiber braided bending actuator (FBBA) using MATLAB Simulink. Data from
the system input and output are used by the black box method. Thus, the voltage supplied to the electro-pneumatic regulators and the position (angle) of the FBBA system are used to collect input–output data in this study. In the system, PRBS generators are used to generate an input signal
for the electro-pneumatic valve. The auto-regressive with exogenous input (ARX) model is chosen. As the controller for the FBBA position system, PID with the Genetic Algorithm (GA) tuning method and auto-tuned tuning method is proposed. The reference angle, simulation, and actual test are compared. The mathematical model gained from the SI method is verified through the simulation and test result of the position control. It was found that the model obtained through SI able represent the actual plant. |
|---|