Tracking Control of Vertical Pneumatic Artificial Muscle System Using PID

Authors

  • M.H. Tan Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • S.H. Chong Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • T.F. Tang Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • A.Z. Shukor Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • V. Sakthivelu Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • T.C. Ma Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • M.R. Md Nawawi Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia

Keywords:

Pneumatic Artificial Muscle, Pneumatic Muslce Actuator, PID,

Abstract

The advantages of pneumatic system such as compactness, high power to weight ratio, ease of maintenance, cleanliness and inherent safety led to the development of McKibben muscle and pneumatic artificial muscle (PAM). However, the air compressibility and the lack of damping ability of PAM bring dynamic delay to the pressure response and causes oscillatory motion to occur. It is not easy to realize the motion with high accuracy and high speed due to all the non-linear characteristics of pneumatic system. In this paper, we present a vertical PAM system with a simple PID controller to control the motion of the PAM. The experiment setup is explained and Ziegler Nichols tuning method is used in getting the approximation PID parameters. The effectiveness of the proposed control algorithm is demonstrated through experiments.

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Published

2016-10-01

How to Cite

Tan, M., Chong, S., Tang, T., Shukor, A., Sakthivelu, V., Ma, T., & Md Nawawi, M. (2016). Tracking Control of Vertical Pneumatic Artificial Muscle System Using PID. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 8(7), 129–132. Retrieved from https://jtec.utem.edu.my/jtec/article/view/1293

Issue

Vol. 8 No. 7: Pioneering Future Innovation Through Green Technology III

Section

Articles

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