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
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id	my-utem-ep.18364
record_format	uketd_dc
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Chong, Shin Horng
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
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
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
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty of Electrical Engineering
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
_version_	1747833923072688128
spelling	my-utem-ep.183642021-10-10T15:59:25Z Enhanced-PID Control Based Antagonistic Control For Pneumatic Artificial Muscle Actuators 2016 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 http://eprints.utem.edu.my/id/eprint/18364/ http://eprints.utem.edu.my/id/eprint/18364/1/Enhanced-PID%20Control%20Based%20Antagonistic%20Control%20For%20Pneumatic%20Artificial%20Muscle%20Actuators.pdf text en public http://eprints.utem.edu.my/id/eprint/18364/2/Enhanced-PID%20Control%20Based%20Antagonistic%20Control%20For%20Pneumatic%20Artificial%20Muscle%20Actuators.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=100187 mphil masters Universiti Teknikal Malaysia Melaka Faculty of Electrical Engineering Chong, Shin Horng 1. Ahn, K.K. and Nguyen, H.T.C., 2007. Intelligent switching control of a pneumatic muscle robot arm using learning vector quantization neural network. 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Enhanced-PID Control Based Antagonistic Control For Pneumatic Artificial Muscle Actuators

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