Positioning Control Of A 1-DOF Pneumatic Muscle Actuator (PMA) System With Modified PID Plus Feedforward Controller

Positioning Control Of A 1-DOF Pneumatic Muscle Actuator (PMA) System With Modified PID Plus Feedforward Controller

The pneumatic muscle actuator (PMA) is a novel actuator which carries numerous advantages such as high strength and power/weight ratio, low cost, compact, clean and easy to maintain features. However, pneumatic muscle actuator has notable nonlinear characteristics, which makes it difficult to contro...

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Main Author: Sakthi Velu, Vasanthan
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/18366/1/Positioning%20Control%20Of%20A%201-DOF%20Pneumatic%20Muscle%20Actuator%20%28PMA%29%20System%20With%20Modified%20PID%20Plus%20Feedforward%20Controller.pdf
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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
Sakthi Velu, Vasanthan
Positioning Control Of A 1-DOF Pneumatic Muscle Actuator (PMA) System With Modified PID Plus Feedforward Controller
description The pneumatic muscle actuator (PMA) is a novel actuator which carries numerous advantages such as high strength and power/weight ratio, low cost, compact, clean and easy to maintain features. However, pneumatic muscle actuator has notable nonlinear characteristics, which makes it difficult to control. The purpose of this research is focused on experimental system development and parameter characterization of phenomenological modelling for commercially available Festo Fluidic Muscle Actuator. The model and parameters obtained from the characterization are validated in simulation and experimental platform. The major part of the research is focused on the framework of the modified PID plus feedforward control system, and its effectiveness in a 1 degree-of-freedom PMA system is experimentally demonstrated in comparison with a classical PID controller. The overall control system comprises of a feedforward controller and a modified PID controller in the feedback loop which designed based on the exact PMA system characteristics. The design procedure of the modified PID plus feedforward controller is practical and features easy design procedures. The usefulness and advantages of the proposed controller are shown via positioning and tracking motion experimental studies. Besides, this study also highlights the robustness of the modified PID plus feedforward controller by examining its performance in point-to-point and tracking motions in the presence of extra mass. In the robustness performance, the modified PID plus feedforward controller is compared with a classical PID control systems. The comparative experiments results illustrate that modified PID plus feedforward controller shows the significant motion performances as compared to the PID controller by maintaining steady state error between ±50μm. The framework used to develop the proposed controller is generally enough for further investigation in PMA motion control system, further improvement in terms of positioning accuracy and tracking motion could extend the
format Thesis
qualification_name Master of Philosophy (M.Phil.)
qualification_level Master's degree
author Sakthi Velu, Vasanthan
author_facet Sakthi Velu, Vasanthan
author_sort Sakthi Velu, Vasanthan
title Positioning Control Of A 1-DOF Pneumatic Muscle Actuator (PMA) System With Modified PID Plus Feedforward Controller
title_short Positioning Control Of A 1-DOF Pneumatic Muscle Actuator (PMA) System With Modified PID Plus Feedforward Controller
title_full Positioning Control Of A 1-DOF Pneumatic Muscle Actuator (PMA) System With Modified PID Plus Feedforward Controller
title_fullStr Positioning Control Of A 1-DOF Pneumatic Muscle Actuator (PMA) System With Modified PID Plus Feedforward Controller
title_full_unstemmed Positioning Control Of A 1-DOF Pneumatic Muscle Actuator (PMA) System With Modified PID Plus Feedforward Controller
title_sort positioning control of a 1-dof pneumatic muscle actuator (pma) system with modified pid plus feedforward controller
granting_institution Universiti Teknikal Malaysia Melaka
granting_department Faculty of Electrical Engineering
publishDate 2016
url http://eprints.utem.edu.my/id/eprint/18366/1/Positioning%20Control%20Of%20A%201-DOF%20Pneumatic%20Muscle%20Actuator%20%28PMA%29%20System%20With%20Modified%20PID%20Plus%20Feedforward%20Controller.pdf
http://eprints.utem.edu.my/id/eprint/18366/2/Positioning%20Control%20Of%20A%201-DOF%20Pneumatic%20Muscle%20Actuator%20%28PMA%29%20System%20With%20Modified%20PID%20Plus%20Feedforward%20Controller.pdf
_version_ 1747833923582296064
spelling my-utem-ep.183662021-10-10T16:04:37Z Positioning Control Of A 1-DOF Pneumatic Muscle Actuator (PMA) System With Modified PID Plus Feedforward Controller 2016 Sakthi Velu, Vasanthan T Technology (General) TJ Mechanical engineering and machinery The pneumatic muscle actuator (PMA) is a novel actuator which carries numerous advantages such as high strength and power/weight ratio, low cost, compact, clean and easy to maintain features. However, pneumatic muscle actuator has notable nonlinear characteristics, which makes it difficult to control. The purpose of this research is focused on experimental system development and parameter characterization of phenomenological modelling for commercially available Festo Fluidic Muscle Actuator. The model and parameters obtained from the characterization are validated in simulation and experimental platform. The major part of the research is focused on the framework of the modified PID plus feedforward control system, and its effectiveness in a 1 degree-of-freedom PMA system is experimentally demonstrated in comparison with a classical PID controller. The overall control system comprises of a feedforward controller and a modified PID controller in the feedback loop which designed based on the exact PMA system characteristics. The design procedure of the modified PID plus feedforward controller is practical and features easy design procedures. The usefulness and advantages of the proposed controller are shown via positioning and tracking motion experimental studies. Besides, this study also highlights the robustness of the modified PID plus feedforward controller by examining its performance in point-to-point and tracking motions in the presence of extra mass. In the robustness performance, the modified PID plus feedforward controller is compared with a classical PID control systems. The comparative experiments results illustrate that modified PID plus feedforward controller shows the significant motion performances as compared to the PID controller by maintaining steady state error between ±50μm. The framework used to develop the proposed controller is generally enough for further investigation in PMA motion control system, further improvement in terms of positioning accuracy and tracking motion could extend the 2016 Thesis http://eprints.utem.edu.my/id/eprint/18366/ http://eprints.utem.edu.my/id/eprint/18366/1/Positioning%20Control%20Of%20A%201-DOF%20Pneumatic%20Muscle%20Actuator%20%28PMA%29%20System%20With%20Modified%20PID%20Plus%20Feedforward%20Controller.pdf text en public http://eprints.utem.edu.my/id/eprint/18366/2/Positioning%20Control%20Of%20A%201-DOF%20Pneumatic%20Muscle%20Actuator%20%28PMA%29%20System%20With%20Modified%20PID%20Plus%20Feedforward%20Controller.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=100136 mphil masters Universiti Teknikal Malaysia Melaka Faculty of Electrical Engineering Chong, Shin Horng 1. A.T. Neidhard-Doll., 2003. 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