Abstract
2), judder-free and resistant to dirt and dust, therefore these actuators are widely used in industrial environment besides electric motors or hydraulic actuators. One of the most mentioned drawbacks of PAMs is the existence of hysteresis. In this paper two experiments related to hysteresis phenomena of PAMs are described. The goal is to present a precise static force model for the hysteresis loop in the force-contraction (force-relative displacement) curve and a LabVIEW based sliding mode controller for hysteresis independent accurate positioning. Using the approximation algorithm for the force produced by the Fluidic Muscle the correlation coefficient R of nearly 1 and 0,01 mm accuracy in positioning is reached.
Highlights
Working principles of different types of pneumatic artificial muscles are well described in [1] and [2]
In this paper a proportional directional control valve and a LabVIEW based sliding mode controller are applied for accurate positioning
The discontinuity creates an unfavourable dynamic behaviour in the environment of the surface that is called chattering. It is the main problem of sliding mode control, an important phase in the design of a sliding mode controller is the chattering free implementation
Summary
Working principles of different types of pneumatic artificial muscles are well described in [1] and [2]. PAMs differ from general pneumatic systems as they have no inner moved parts and there is no sliding on the surfaces. They have small weight, simple construction and low cost. According to [5 ÷ 10], disadvantage of PAMs is that the accurate positioning and control are difficult. In this paper a proportional directional control valve and a LabVIEW based sliding mode controller are applied for accurate positioning.
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