Position Control Of Pneumatic Artificial Muscle Research

In this dissertation, the German company Festo's pneumatic artificial muscle MAS was studied, an improved static and dynamic mathematic model of pneumatic muscle actuator was developed by means of theoretic analysis and verified through experiment, and according to the characteristics of PMA system. In pneumatic artificial muscle control system analysis based on the use of fuzzy control and adaptive PID control tuning method of combining the design of pneumatic artificial muscles fuzzy adaptive tuning PID control strategy and its simulation and analysis.First, based on energy conservation, a new improved static mathematic mode of PMA was developed considering the rubber elasticity and the friction between rubber tube and braided mesh shell, and a new concept was presented.and through experiments and computer simulation study was carried out.Second, the flow equation from the control valve, actuator dynamic equations and equations of motion to start, the pneumatic artificial muscles as a kind of pressure Chuandi system to study, to establish the dynamic characteristics of pneumatic muscle system of nonlinear mathematical models and experiments and computer simulation of the pneumatic artificial muscle control system for open-loop dynamic performance characteristics. On this basis, the obtained closed-loop control system transfer function.Finally, due to the complex nonlinear dynamics of pneumatic muscle actuator and difficult in obtaining accurate mathematic model,classic control method is not suitable for the system.A fuzzy adaptive tuning PID control strategy was presented to control the position of pneumatic muscle actuator servo system. Obtained by simulation, a simple PID control, due to a system of nonlinear response of the system prone to jitter, can not get a good dynamic performance, however, adaptive fuzzy-tuning PID control is not only to improve the system dynamic characteristics, fast response time and smooth, no overshoot, but also in the external disturbances and parameter changes, the system has strong robustness. Therefore, position control servo pneumatic muscle system, the fuzzy adaptive tuning PID control is feasible and reasonable.