Enhanced-PID Control Based Antagonistic Control For Pneumatic Artificial Muscle Actuators.

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Faculty of Electrical Engineering

ENHANCED-PID CONTROL OF ANTAGONISTIC

PNEUMATIC ARTIFICIAL ACTUATED SYSTEM

Tan Ming Hui

Master of Science in Mechatronics Engineering

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ENHANCED-PID CONTROL BASED ANTAGONISTIC CONTROL FOR PNEUMATIC ARTIFICIAL MUSCLE ACTUATORS

TAN MING HUI

A thesis submitted

in fulfillment of the requirements for the degree of Master of Science in Mechatronics Engineering

Faculty of Electrical Engineering

UNIVERSITY TEKNIKAL MALAYSIA MELAKA

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DECLARATION

I declare that this thesis entitled “Enhanced-PID Control of Antagonistic Pneumatic Artificial Actuated System” is the result of my own research except as cited in the references. The thesis has not been accepted for any degree and is not concurrently submitted in candidature of any other degree.

Signature : ………...

Name : TAN MING HUI

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APPROVAL

I hereby declare that I have read this thesis and in my opinion this thesis is sufficient in terms of scope and quality for the award of Master of Science in Mechatronics Engineering.

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DEDICATION

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i ABSTRACT

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ii ABSTRAK

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ACKNOWLEDGEMENTS

First and foremost, I would like to take this opportunity to express my sincere acknowledgement to my supervisor, Dr. Chong Shin Horng from the Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM) for her essential supervision, support and encouragement towards the completion of this thesis.

I would also like to express my greatest gratitude to Dr. Ahmad Zaki bin Shukor from Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM), co-supervisor of this research for his advice and suggestions. Particularly, I would like to express my deepest gratitude to all lab members from Motion Control Research Lab (MCRL) for their assistant and efforts in all the lab and analysis works.

Special thanks to Zamalah scholarship, Universiti Teknikal Malaysia Melaka (UTeM) for the financial support throughout this project.

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LIST OF APPENDICES xi

LIST OF ABBREVIATIONS xii

LIST OF SYMBOLS xiv

LIST OF PUBLICATIONS xvi

CHAPTER

2.4.2 Model Based Controller 14

2.4.3 Intelligent Controller 21

2.4.4 Hybrid Control Method 26

2.5 PID Controller Concept 38

2.6 Ziegler Nichols Closed-Loop Tuning Method 40

2.7 Summary 41

3. METHODOLOGY 44

3.1 Introduction 44

3.2 Development and Modeling of PAM 44

3.2.1 Development of Antagonistic Based PAM System 45 3.2.2 Modeling of Antagonistic Based PAM System 52

3.3 Driving Characteristics of PAM 57

3.4 Enhanced PID Controller 62

3.4.1 Controller Concept 63

3.4.2 Design Procedure 66

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4. RESULTS AND DISCUSSION 71

4.1 Introduction 71

4.2 Tracking Performance 73

4.3 Robustness Performance 94

4.4 Summary 106

5. CONCLUSIONS AND RECOMMENDATIONS FOR

FUTURE WORK 108

5.1 Introduction 108

5.2 Attainment of Research Objectives 108

5.3 Recommendations of Future Work 112

REFERENCES 113

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LIST OF TABLES

TABLE TITLE PAGE

2.1 Comparison between electric-driven, hydraulic and pneumatic artificial muscle actuators

9

2.2 Summary of past proposed control methods for PAM system 42

3.1 List of components model used 50

3.2 Estimated PID parameters 67

3.3 Fine-tuned PID parameters 67

4.1 Controller gains of the PID elements in two control systems 72 4.2 List of conducted experiments for tracking performance 73 4.3 �� of the uncompensated system, classic PID controller and

enhanced-PID controller with variation of reference input and frequency

91

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LIST OF FIGURES

FIGURE TITLE PAGE

2.1 FESTO pneumatic artificial muscle actuator 8

2.2 Control methods for PAM system 12

3.1 Human arm muscle structure (Grando and Mir, 2014) 46 3.2 Dimension of antagonistic-based PAM mechanism in SolidWorks

drawing

46

3.3 Fabricated steel base connected with two PAM actuators 47

3.4 Micro-box 2000 (TeraSoft Inc., 2012) 48

3.5 Schematic diagram of antagonistic-based PAM system 49 3.6 Photograph of experiment setup of antagonistic-based PAM system 50

3.7 Interfacing between PC and mechanism 51

3.8 Free body diagram of antagonistic based PAM system 52 3.9 Schematic diagram of antagonistic based PAM system 53

3.10 Side view of PAM mechanism 57

3.11 Static relationship between output rotation angle and input voltage 59 3.12 Static relationship between rotation angle and pressure 60 3.13 Static relationship between input voltage of PMA and pressure 61

3.14 Block diagram of enhanced PID controller 64

3.15 Step input open-loop experiment at amplitude of 20° 67

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4.2 Comparative results between classic PID and enhanced-PID for gains tuning

72

4.3 Comparative experimental tracking results of the enhanced-PID and classic PID controls for sinusoidal input (5°, 0.1 Hz)

75

76

4.5 � versus amplitude of reference input angle at frequency of 0.1 Hz

77

79

80

81

83

84

85

87

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89

4.15 Graph of versus amplitude for 10-time repeatability test 93 4.16 Comparative experimental robustness results of the enhanced-PID

and classic PID controls for sinusoidal input (5°, 0.1 Hz) with weight of (a) 0 kg (b) 4 kg (c) 8 kg

95

4.17 Comparative experimental robustness results of the enhanced-PID and classic PID controls for sinusoidal input (17°, 0.1 Hz) with weight of (a) 0 kg (b) 4 kg (c) 8 kg

96

98

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101

102

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x

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LIST OF APPENDICES

APPENDIX TITLE PAGE

A SolidWorks drawing for the antagonistic based PAM system 110 B Mathematical equation for Ziegler-Nichols second tuning

method

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xii

LIST OF ABBREVIATIONS

ABBREVIATION DETAIL

ADC - Analogue to digital converter

AN-PID - Advanced Nonlinear Proportional-Integral-Derivative ARC - Adaptive Robust Control

GPIO - General-purpose input/output

I/O - Input/Output

ISAC - Intelligent Soft Arm Control

IPPSC - Intelligent Phase Plane Switching Control

LMS - Least Mean Square

LSE - Least Square Error

LVQNN - Learning Vector Quantization Neural Network MGA - Modified Genetic Algorithm

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MVC - Minimum Variance Control

NARX - Non-linear Autoregressive with Exogenous input NDOBC - Non-linear Disturbance Observer Based Control

NDOBDSC - Non-linear Disturbance Observer Based Dynamic Surface Control

PAM - Pneumatic Artificial Muscle

PC - Personal computer

PD - Proportional-Derivative

PID - Proportional-Integral-Derivative PMA - Pneumatic Muscle Actuator PPSC - Phase Plane Switching Control

SMC - Sliding Mode Control

SMCBNDO - Sliding Mode Control Based on Non-linear Disturbance Observer

SOM - Self-organizing Map

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xv Kp - Proportional gain

Ku - Ultimate gain

L0 - Initial muscle length

P - Input pressure

P0 - Nominal constant pressure

Pu - Ultimate period

Δp - Pressure difference

r - Radius

T - Rotating torque Td - Derivative time

Ti - Integral time θ - Rotational angle θr - Reference input angle

UA - Signal after PID controller

UB - Signal after Compensator A

U - Control voltage

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LIST OF PUBLICATIONS

JOURNAL

1. Tan, M.H., Chong, S.H., Tang, T.F., Shukor, A.Z., Sakthivelu, V., Ma, T.C., and

Nawawi, M.R.Md., 2016. Tracking Control of Vertical Pneumatic Artificial Muscle

System Using PID. Journal of Telecommunication, Electronic and Computer

Engineering (JTEC) – Special Issue in Pioneering Future Innovation Through Green

Technology, to be published.

2. Tang, T.F., Chong, S.H., Tan, M.H., Chan, C.Y., and Sato, K., 2016.

Characterization of Pneumatic Artificial Muscle System in an Opposing Pair

Configuration. Journal of Telecommunication, Electronic and Computer

Engineering (JTEC) – Special Issue in Pioneering Future Innovation Through Green

Technology, to be published.

3. Sakthivelu, V., Chong, S.H., Tan, M.H., and Md Ghazaly, M., 2016.

Phenomenological Modeling and Classic Control of a Pneumatic Muscle Actuator

System. International Journal of Control and Automation (IJCA), 9 (4), pp.301-312.

CONFERENCE

1. Tan, M.H., Chong, S.H., Tang, T.F., Shukor, A.Z., Sakthivelu, V., Ma, T.C., and

Nawawi, M.R.Md., 2016. Tracking Control of Vertical Pneumatic Artificial Muscle

System Using PID. The 4th_{International Conference on Engineering and ICT (ICEI}

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2. Tang, T.F., Chong, S.H., Tan, M.H., Chan, C.Y., and Sato, K., 2016.

Characterization of Pneumatic Artificial Muscle System in an Opposing Pair

Configuration. The 4th_{International Conference on Engineering and ICT (ICEI}

2016).

3. Tan, M.H., Chong, S.H., Tang, T.F., and Shukor, A.Z., 2016. PID control of vertical

pneumatic artificial muscle system. In: Proceedings of Mechanical Engineering

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1 CHAPTER 1

INTRODUCTION

1.1 Introduction

The human science and technology are getting more advanced as the world is moving forward. Machines and robots are created in order to replace human power. This is because the developed machineries are able to conduct complex work load in a shorter time and more safe condition as compared to the work being carried out by the human being. The motions of machines and robots rely on their own actuation systems as they function in providing forces, torque or any form of mechanical motion to the system in order to move.

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PAM has several advantages over conventional pneumatic cylinders, such as high force-to-weight ratio, flexibilities in installation and lower compressed air. However, difficulties arise when dealing with the modeling controllers for high positioning performance of PAM systems due to their highly nonlinear performance which results from compressibility of the air. As a result, a controller is necessary needed to help in achieving high positioning performance, stability and robustness in the system.

Up to now, various control methods have been designed and evaluated for PAM mechanisms. These proposed control methods can be categorized as classical control, intelligent control and model-based control. The conventional proportional-integral-derivative (PID) control is a classical controller that utilizes model-free control algorithms, including a feedback control action u(t) that utilizes the sum of three control parameters. PID controller is still a control approach that widely used in industrial due to its simplicity in structure and design procedure. With the appropriate selection of the three control parameters, the PID control can achieve the desired output and achieve the effectiveness.