Fuzzy Self-Tuning PID Control of Hydrogen-Driven Pneumatic Artificial Muscle Actuator

doi:10.1016/S1672-6529(13)60228-0

摘要/Abstract

关键词: pneumatic muscle, metal hydride, thermoelectric module, PID control, fuzzy tuning

Abstract:

In this paper, a fuzzy self-tuning Proportional-Integral-Derivative (PID) control of hydrogen-driven Pneumatic Artificial Muscle (PAM) actuator is presented. With a conventional PID control, non-linear thermodynamics of the hydrogen-driven PAM actuator still highly affects the mechanical actuations itself, causing deviation of desired tasks. The fuzzy self-tuning PID con-troller is systematically developed so as to achieve dynamic performance targets of the hydrogen-driven PAM actuator. The fuzzy rules based on desired characteristics of closed-loop control are designed to finely tune the PID gains of the controller under different operating conditions. The empirical models and properties of the hydrogen-driven PAM actuator are used as a genuine representation of mechanical actuations. A mass-spring-damper system is applied to the hydrogen-driven PAM actuator as a typical mechanical load during actuations. The results of the implementation show that the viability of the proposed method in actuating the hydrogen-driven PAM under mechanical loads is close to desired performance.

Key words: pneumatic muscle, metal hydride, thermoelectric module, PID control, fuzzy tuning

Thanana Nuchkrua, Thananchai Leephakpreeda. [J]. J4, 2013, 10(3): 329-340.

Thanana Nuchkrua, Thananchai Leephakpreeda. Fuzzy Self-Tuning PID Control of Hydrogen-Driven Pneumatic Artificial Muscle Actuator[J]. J4, 2013, 10(3): 329-340.

参考文献

[1] Tsagarakis N, Caldwell D G. Development and control of a soft-actuated exoskeleton for use in physiotherapy and training. Autonomous Robots, 2003, 15, 21–33.
[2] Tsuruga T, Ino S, Ifukube T, Sato M, Tanaka T, Izumi T, Muro M. A basic study for a robotic transfer aid system based on human motion analysis. Advanced Robotics, 2001, 14, 579–595.
[3] Tomovic R, Boni G. An adaptive artificial hand. IEEE Transactions on Automatic Control, 1962, 7, 3–10.
[4] Gavrilovic M M, Maric M R. Positional servo-mechanism activated by artificial muscles. Medical and Biological En-gineering, 1969, 7, 77–82.
[5] Noritsugu T, Tanaka T. Application of rubber artificial mus-cle manipulator as a rehabilitation robot. IEEE/ASME Transactions on Mechatronics, 1997, 2, 259–267.
[6] van der Linde R Q. Design analysis and control of a low power joint for walking robots by phasic activation of McKibben muscles. IEEE Transactions on Robotics and Automation, 1999, 15, 599–604.
[7] Tsagarakis N G, Caldwell D G. Development and control of a soft-actuated exoskeleton for use in physiotherapy and training. Autonomous Robots, 2003, 15, 21–33.
[8] Tondo B, Ippolito S, Guiochet J, Daidie A. A seven-degrees- of-freedom robot-arm driven by pneumatic artificial muscles for humanoid robots. International Journal of Robotics Re-search, 2005, 24, 257–274.
[9] Verrelst B, van Ham R, Vanderborght B, Daerden F, Lefeber D. The pneumatic biped “Lucy” actuated with pleated pneumatic artificial muscles. Autonomous Robots, 2005, 18, 201–213.
[10] Verrelst B, van Ham R, Vanderborght B, Daerden F, Lefeber D, Damme M V. Second generation pleated pneumatic arti-ficial muscle and its robotic applications. Advanced Robotics, 2006, 20, 783–805.
[11] Caldwell D G, Tsagarakis N, Artrit P, Medrano-Cerda G A. Bio-mimetic principles in actuator design for a humanoid robot. European Journal of Mechanical and Environmental Engineering, 1999, 44, 75–80.
[12] Driver T, Shen X. Sleeve muscle actuator: Concept and prototype demonstration. Journal of Bionic Engineering, 2013, 10, 222–230.
[13] Jemini N S, Nasrallah S B. A Study of two-dimensional heat and mass transfer during absorption in a metal-hydrogen reactor. International Journal of Hydrogen Energy, 1995, 20, 43–52.
[14] Bououdina M, Grant D, Walker G. Review on hydrogen absorbing materials structure, microstructure, and thermo-dynamic properties. International Journal of Hydrogen En-ergy, 2006, 31, 177–182.
[15] Züttel A. Materials for hydrogen storage. Materials Today, 2003, 6, 18–27.
[16] Züttel A. Hydrogen in solids and the materials challenge for hydrogen storage. The 13th International Conference on Rapidly Quenched and Metastable Materials, Dresden, Germany, 2008.
[17] Shimizu S, Ino S, Sato M, Odagawa T, Izumi T, Takahashi M, Ifukube T. A basic study of force display using a metal hy-dride actuator. Proceeding of the 2nd IEEE International Workshop on Robot and Human Communication, Tokyo, Japan, 1993, 211–215.
[18] Sato M, Ino S, Shimizu S, Ifukube T, Wakisaka Y, Izumi T. Development of a compliance variable metal hydride (MH) actuator system for a robotic movability aid for disabled persons. Transactions of the Japan Society of Mechanical Engineers, 1996, 62, 1912–1919.
[19] Ino S, Sato M. A novel soft actuator using metal hydride materials and its applications in quality-of-life technology. In: Campolo D (ed). New Developments in Biomedical En-gineering, InTech, 2010, 499–515.
[20] Ino S, Sato M, Hosono M, Izumi T. Development of a soft metal hydride actuator using a laminate bellows for reha-bilitation systems. Sensors and Actuators B, 2009, 136, 86–91.
[21] Wakisaka, Y, Mure M, Kabutomori T, Takeda H, Shimizu S, Ino S, Ifukube T. Application of hydrogen absorbing alloys to medical and rehabilitation equipment. IEEE Transactions on Rehabilitation Engineering, 1997, 5, 148–157.
[22] Vanderhoff A, Kim K J. Experimental study of a metal hydride driven braided artificial pneumatic muscle. Smart Materials and Structures, 2009, 18, 125014.
[23] Leephakpreeda T. Mathematical modeling of pneumatic artificial muscle actuation via hydrogen driving metal hy-dride-LaNi5. Journal of Bionic Engineering, 2012, 9, 110–118.
[24] Kurosaki K, Maruyama T, Takahashi K, Muta H, Uno M, Yamanaka S. Design and development of MH actuator sys-tem. Sensors and Actuators A: Physical, 2004, 113, 118–123.
[25] Ino S, Sato M, Hosono M, Nakajima S, Yamashita K, Tanaka T, Izumi T. Prototype design of a wearable metal hydride actuator using a soft bellow for motor rehabilitation. Pro-ceeding of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Van-couver, Canada, 2008, 3451–3454.
[26] Sandrock G, Bowman R C Jr. Gas-based hydride applica-tions: Recent progress and future needs. Journal of Alloys and Compounds, 2003, 356–357, 794–799.
[27] Leephakpreeda T, Wickramatunge K C. Pneumatic artificial muscle actuation and modeling. IAENG Transactions on Engineering Technologies: Special Edition of the Interna-tional Multi conference of Engineers and Computer Scien-tists 2009. AIP Conference Proceeding, 2009, 1174, 282–296.
[28] Dhaou H, Mellouli S, Askri F, Jemni A, Nasrallah S. Ex-perimental and numerical study of discharge process of metal-hydrogen tank. International Journal of Hydrogen Energy, 2007, 12, 1922–1927.
[29] Leephakpreeda T. Experimental determination of thermoe-lectric module parameters and modeling for cooling/heating control design. Experimental Techniques, 2012, 36, 13–20.
[30] Astrom K J, Hagglund T. New tuning methods for PID controllers. Proceedings of the 3rd European Control Con-ference, Rome, Italy, 1995, 2456–2462.
[31] Mamdani E H, Assilian S. An experiment in linguistic syn-thesis with a fuzzy logic controller. International Journal of Man-Machine Studies, 1975, 7, 1–13.
[32] Mamdani E H. Applications of fuzzy logic to approximate reasoning using linguistic synthesis. IEEE Transactions on Computers, 1977, 26, 1182–1191.