請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/91733
標題: | 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 Position Control of Pneumatic Muscle Actuators Using Two Pneumatic Proportional Pressure Valves |
作者: | 林冠良 Kuan-Liang Lin |
指導教授: | 江茂雄 Mao-Hsiung Chiang |
關鍵字: | 磁性形狀記憶合金,比例式氣壓壓力閥,位置控制,氣壓肌肉致動器,模糊增益規劃PID控制, Magnetic shape memory actuator,Proportional pneumatic pressure valve,Position control,Pneumatic muscle actuators,Fuzzy gain scheduling PID control, |
出版年 : | 2024 |
學位: | 碩士 |
摘要: | 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. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/91733 |
DOI: | 10.6342/NTU202400446 |
全文授權: | 未授權 |
顯示於系所單位: | 工程科學及海洋工程學系 |
文件中的檔案:
檔案 | 大小 | 格式 | |
---|---|---|---|
ntu-112-1.pdf 目前未授權公開取用 | 11.33 MB | Adobe PDF |
系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。