以兩種比例氣壓壓力閥進行氣壓肌肉致動器位置控制之研究

Abstract

本論文使用本實驗室研發之磁性形狀記憶合金比例壓力閥，取代了一般氣壓壓力閥的電磁線圈驅動方式，並結合了氣壓肌肉致動器進行位置回授性能的實驗，最後與Festo的比例壓力閥進行性能比較。在實驗中，將使用模糊增益規劃PID控制器來設計回授控制器，以實現磁性形狀記憶合金比例壓力閥對氣壓肌肉致動器的位置追蹤控制。本文測試了兩個閥分別對氣壓肌肉在空載時的步階、弦波和三角波軌跡的追蹤表現，甚至是不同頻率和振幅。此外，實驗結果也分析了磁性形狀記憶合金比例壓力閥用不同控制器的實驗情形一起做討論，並加上負載去驗證增益規劃的控制器優於一般的PID控制。透過位置響應實驗的驗證，本文證實了以磁性形狀記憶合金比例壓力閥用模糊增益規劃PID控制器在氣壓肌肉致動器的位置追蹤方面可以達到更佳的追蹤效果。

This thesis utilizes a magnetic shape memory (MSM) actuator developed in our laboratory to control a proportional pneumatic pressure valve, replacing the conventional electromagnetic coil-driven approach for pneumatic pressure valves. The experiments incorporate position feedback performance with pneumatic muscle actuators and conclude with a performance comparison against Festo''s proportional pressure valve. In the experiments, a fuzzy gain scheduling PID controller is employed to design a feedback controller for achieving position tracking control of the pressure valve driven by the magnetic shape memory. The tracking performance is tested under various conditions, including step responses of the two valves, sine and triangle wave trajectories at different frequencies and amplitudes. Additionally, the experimental results compare the performance of the MSM valve using different controllers. The analysis is extended to verify the superiority of the gain scheduling controller over a standard PID control by incorporating different loads. Through validation experiments of position trajectory tracking control, it confirms that the newly developed proportional pneumatic pressure valve driven by the magnetic shape memory actuator achieves better tracking performance.