An Experimental Evaluation of Control Modes for Pneumatic Artificial Muscles Using Fast on/off Valves

Öz

Pneumatic Artificial Muscles (PAM) are versatile actuators having many advantages such as high force to weight ratio, soft and flexible structure, extreme safe for human, ease of maintenance and low cost. On the other hand, their inherent nonlinear characteristics yields difficulties in control actions, which is an important factor restricting wide-spread use of PAM. In literature, there are studies to resolve the control issue and their results indicate that there is still requirement for a simple and effective control system. In this work, as a first step of achieving the control goal, three common nonlinear controllers used in literature are selected for an experimental evaluation. The implemented controllers are ‘Classical PID controller’, ‘Fuzzy PID controller’ and ‘Sliding-Mode Controller’ (SMC). The evaluation is performed using a test rig, which is a 1-D robotic arm orthosis actuated by Festo PAMs operated with fast on/off valves. According to experimental results, a model-free Sugeno type combined fuzzy PID controller has yielded most successful performance indicating that it could be a simple and effective solution for PAM control issue.

Anahtar Kelimeler

• Pneumatic artificial muscle
• PID control
• Fuzzy PID control
• Fast on/off valve

Yapay Pnömatik Kaslar için Denetim Kiplerinin Hızlı Aç/Kapa Valfler Kullanarak Deneysel Bir Değerlendirmesi

Öz

Pnömatik Yapay Kaslar (PAM), yüksek kuvvet/ağırlık oranı, yumuşak ve esnek yapı, insan için aşırı güvenli, bakım kolaylığı ve düşük maliyet gibi birçok avantaja sahip çok yönlü eyleyicilerdir. Öte yandan, doğrusal olmayan karakteristik özellikleri, PAM’ın yaygın kullanımını kısıtlayan önemli bir faktör olarak, kontrol eylemlerinde zorluklar getirir. Literatürde kontrol sorununu çözmek için çeşitli çalışmalar vardır ve o çalışmaların sonuçları hala basit ve etkili bir kontrol sistemine ihtiyaç olduğunu göstermektedir. Bu çalışmada, kontrol hedefine ulaşmanın ilk adımı olarak, literatürde yaygın kullanılan üç doğrusal olmayan kontrolör, deneysel bir değerlendirme için seçilmiştir. Uygulanan kontrolörler, ‘Klasik PID denetleyici’, ‘Bulanık PID Denetleyici’ ve ‘Kayan Kipli Denetleyicidir’ (SMC). Performans değerlendirmesi, hızlı on/off valfleri ile çalıştırılan Festo PAM’lar tarafından sürülen, 1-D robotik kol ortezi olan bir test teçhizatı kullanılarak gerçekleştirilmiştir. Deney sonuçlarına göre, model serbest bir Sugeno tipi kombine bulanık PID kontrolörü, pnömatik yapay kasların (PAM) kontrol sorunu için basit ve etkili bir çözüm olabileceğini göstererek en başarılı performansı vermiştir.

Anahtar Kelimeler

• Pnömatik yapay kas
• PID denetleyici
• Bulanık PID denetleyici
• Hızlı aç/kapa valf

Kaynakça

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