The Study On Position Control Of Flexible Pneumatic Actuator

In the recent years with the development of the robot and industrial automation industry,the application of pneumatic flexible actuator is more widespread. This paper is started by the mathematical modeling, then is completed by the static and dynamic analysis which finding the relation between the length changing and the pressure changing.Considering the actual rubber tube,the improved mathematical model is builded in this paper. The second part builds the gas dynamic flexible drive experimental platform including mechanical design,manufacturing and assemble, pneumatic system design and selection, pneumatic system design, MCU control program, PC control procedures.The high-speed on-off valve is used to control the pneumatic flexible driver’s gas pressure.This paper analysised the PWM variable duty cycle control program based on the Arduino. Based on C++,the PC software programming is completed on Qt,including the man-machine interface,real-time dynamic curve and controlling function. The third part is researched on the control method of pneumatic flexible actuator by the traditional PID and BP neural network control method.Because of the strongly nonlinearity of pneumatic flexible actuator and when the external load or the target displacement changes, this method is needed to improve. The key of PID method is P.I.D three parameters setting. Judging three parameters of PID wastes time.When the setting displacement or the load changes,they are changing.Because the neural network is adaptive and it has autonomous learning ability, BP neural network PID is used to control to optimize the pneumatic flexible driver control which is more excellent.