The Design And Research On Intelligence Control Of Squirming Robot Based On Pneumatic Columnar Elastic Shell Actuator

Actuators and actuation systems are essential features of all robots, providing the forces, torques, and mechanical motions needed to move the joints, limbs or body. Different effective and newly typed actuators are developed as the progress of robot technologies. The robotic research institute in Zhejiang University of Technology is now developing a new typical squirming robot based on pneumatic columnar elastic shell actuator. Compared to other kinds of actuators, the columnar elastic shell actuator have the advantages of small weight, simple structure and smooth motion. So it possesses valuable developing potential.At present, the pneumatic servo control using on-off valves has become a subject researched on competitively in the domain of fluid power control. The pneumatic control system with ordinary on-off valves in Pulse-Width Modulation (PWM) is a new type of electro-pneumatic on-off/servo control with low cost and high practical significance.This thesis takes pneumatic columnar elastic shell actuator as its object of study, using on/off valve PWM to improve the high-speed and accurate position control. We give theoretical analyses to the static and dynamic characteristics of columnar elastic shell actuator and on-off valves position servo system, and derive the nonlinear model basis of mechanical equilibrium and energy balance. According to the model obtained, the PID controller is designed and the effect of static control is satisfied.The emphasis is application research of position servo control system in squirming robot based on pneumatic columnar elastic shell actuator in this article. The pneumatic control system is a serious nonlinearity system. Based on the experience of professional operator, the fuzzy logic control is an effective control method to nonlinearity system. Therefore this thesis focuses on using fuzzy logic control on electro-pneumatic position servo system. The results of simulation show that fuzzy logic control can compensate the nonlinearity factor of the system, thus the dynamic performance of system is improved. The fuzzy adaptive PID controller, proposed in this paper, combines effectively the nonlinearity compensative capability of the fuzzy logic controller with the PID controller's advantage of eliminating static error, not only enhances the static accuracy, but also improves the dynamic performance of system. For the first tune the pneumatic position digital servo controller is manufactured. This lays a steady foundation for the future application research.