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Feasibility of PI control for a double-acting cylinder actuated by McKibben muscles

Pneumatic actuators are fast becoming a key instrument where cost, safety or pollution is a concern. They can be of linear or rotary type, depending on the motion they produce. Linear pneumatic actuator is also commonly known as pneumatic cylinder because it usually consists of a piston housed in a...

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Main Authors: Mhd. Yusoff, Mohd. Akmal, Mohd. Faudzi, Ahmad Athif, Hassan Basri, Mohd. Shukry
Format: Conference or Workshop Item
Published: 2021
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/96098/
http://dx.doi.org/10.1007/978-981-16-4803-8_33
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spelling my.utm.960982022-07-03T08:07:55Z http://eprints.utm.my/id/eprint/96098/ Feasibility of PI control for a double-acting cylinder actuated by McKibben muscles Mhd. Yusoff, Mohd. Akmal Mohd. Faudzi, Ahmad Athif Hassan Basri, Mohd. Shukry TK Electrical engineering. Electronics Nuclear engineering Pneumatic actuators are fast becoming a key instrument where cost, safety or pollution is a concern. They can be of linear or rotary type, depending on the motion they produce. Linear pneumatic actuator is also commonly known as pneumatic cylinder because it usually consists of a piston housed in a hollow cylinder. In this study, the feasibility of PID control for a double-acting cylinder actuated by McKibben muscles (DACAM) had been investigated. Due to the nonlinearity and hysteresis properties of the muscle, separate controllers for forward actuation and reverse actuation had been used. Result shows that when given a staircase input, the feedback system gave an average response of 4.28 s rise time, 6.06 s settling time, 0.01% overshoot and 0.01% steady-state error for forward actuation and 8.25 s fall time, 9.28 s settling time, 2.86% overshoot and 2.86% steady-state error for reverse actuation. The evidence from this study suggests that position control of a DACAM using PI control is possible. An implication of this is the possibility of developing a small, lightweight and simple pneumatic cylinder using McKibben muscles. 2021 Conference or Workshop Item PeerReviewed Mhd. Yusoff, Mohd. Akmal and Mohd. Faudzi, Ahmad Athif and Hassan Basri, Mohd. Shukry (2021) Feasibility of PI control for a double-acting cylinder actuated by McKibben muscles. In: 8th International Conference on Robot Intelligence Technology and Applications, RiTA 2020, 11 December 2020 - 13 December 2020, Virtual, Online. http://dx.doi.org/10.1007/978-981-16-4803-8_33
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Mhd. Yusoff, Mohd. Akmal
Mohd. Faudzi, Ahmad Athif
Hassan Basri, Mohd. Shukry
Feasibility of PI control for a double-acting cylinder actuated by McKibben muscles
description Pneumatic actuators are fast becoming a key instrument where cost, safety or pollution is a concern. They can be of linear or rotary type, depending on the motion they produce. Linear pneumatic actuator is also commonly known as pneumatic cylinder because it usually consists of a piston housed in a hollow cylinder. In this study, the feasibility of PID control for a double-acting cylinder actuated by McKibben muscles (DACAM) had been investigated. Due to the nonlinearity and hysteresis properties of the muscle, separate controllers for forward actuation and reverse actuation had been used. Result shows that when given a staircase input, the feedback system gave an average response of 4.28 s rise time, 6.06 s settling time, 0.01% overshoot and 0.01% steady-state error for forward actuation and 8.25 s fall time, 9.28 s settling time, 2.86% overshoot and 2.86% steady-state error for reverse actuation. The evidence from this study suggests that position control of a DACAM using PI control is possible. An implication of this is the possibility of developing a small, lightweight and simple pneumatic cylinder using McKibben muscles.
format Conference or Workshop Item
author Mhd. Yusoff, Mohd. Akmal
Mohd. Faudzi, Ahmad Athif
Hassan Basri, Mohd. Shukry
author_facet Mhd. Yusoff, Mohd. Akmal
Mohd. Faudzi, Ahmad Athif
Hassan Basri, Mohd. Shukry
author_sort Mhd. Yusoff, Mohd. Akmal
title Feasibility of PI control for a double-acting cylinder actuated by McKibben muscles
title_short Feasibility of PI control for a double-acting cylinder actuated by McKibben muscles
title_full Feasibility of PI control for a double-acting cylinder actuated by McKibben muscles
title_fullStr Feasibility of PI control for a double-acting cylinder actuated by McKibben muscles
title_full_unstemmed Feasibility of PI control for a double-acting cylinder actuated by McKibben muscles
title_sort feasibility of pi control for a double-acting cylinder actuated by mckibben muscles
publishDate 2021
url http://eprints.utm.my/id/eprint/96098/
http://dx.doi.org/10.1007/978-981-16-4803-8_33
_version_ 1738510323342639104
score 13.211869

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