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DC 欄位 | 值 | 語言 |
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dc.contributor.advisor | 江茂雄 | zh_TW |
dc.contributor.advisor | Mao-Hsiung Chiang | en |
dc.contributor.author | 林冠良 | zh_TW |
dc.contributor.author | Kuan-Liang Lin | en |
dc.date.accessioned | 2024-02-22T16:28:14Z | - |
dc.date.available | 2024-02-23 | - |
dc.date.copyright | 2024-02-22 | - |
dc.date.issued | 2024 | - |
dc.date.submitted | 2024-02-01 | - |
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IEEE/ASME Transactions on Mechatronics, 2005. 10(2): p. 198-209. 8.Visone, C., Hysteresis modelling and compensation for smart sensors and actuators. Journal of Physics: Conference Series, 2008. 138(1): p. 012028. 9.Riccardi, L., et al., Adaptive Control of Positioning Systems With Hysteresis Based on Magnetic Shape Memory Alloys. Control Systems Technology, IEEE Transactions on, 2013. 21(6): p. 2011-2023. 10.Riccardi, L., et al., Robust adaptive control of a Magnetic Shape Memory actuator for precise positioning. in American Control Conference (ACC), 2011. San Francisco, USA. 11.Zhou, M., et al., Hybrid control of magnetically controlled shape memory alloy actuator based on Krasnosel’skii-Pokrovskii model. Journal of Intelligent and Fuzzy Systems, 2015. 29(1): p. 63-73. 12.Zhou, M. and Q. Zhang., Hysteresis model of magnetically controlled shape memory alloy based on a PID neural network. in 2015 IEEE Magnetics Conference (INTERMAG). 13.Zhou, M., et al., Modified KP Model for Hysteresis of Magnetic Shape Memory Alloy Actuator. IETE Technical Review, 2015. 32(1): p. 29-36. 14.Stephan, J.M., et al., Mechanical sensing based on ferromagnetic shape memory alloys. in Sensors, 2010 IEEE. 15.Yin, R., et al., A magnetic shape memory microactuator with intrinsic position sensing. Sensors and Actuators A: Physical, 2016. 246: p. 48-57. 16.Gueltig, M., et al., High Frequency Thermal Energy Harvesting Using Magnetic Shape Memory Films. Advanced Energy Materials, 2014. 4(17): p. 1400751-n/a. 17.Gueltig, M., et al., Thermal energy harvesting based on ferromagnetic shape memory alloy microactuation. in 2013 Transducers & Eurosensors XXVII: The 17th International Conference on Solid-State Sensors, Actuators and Microsystems. 18.Smith, A.R., et al., Characterization of a high-resolution solid-state micropump that can be integrated into microfluidic systems. Microfluidics and Nanofluidics, 2015. 18(5): p. 1255-1263. 19.Ullakko, K., et al., A magnetic shape memory micropump: contact-free, and compatible with PCR and human DNA profiling. Smart Materials and Structures, 2012. 21(11): p. 115020. 20.Flaga, S., J. Pluta, and B. Sapi., Pneumatic valves based on Magnetic Shape Memory Alloys: Potential applications. in Carpathian Control Conference (ICCC), 2011 12th International. 21.Andries J. du Plessis, et al., Latching valve control using ferromagnetic shape memory alloy actuators. 2003, pp. 320-331. 22.Schiepp, T., et al., Energy efficient multistable valve driven by magnetic shape memory alloys. in International Fluid Power Conference, 2016, pp. 491-502. 23.Effner, A., et al., Fast Switching Pneumatic Valves Driven by Magnetic Shape Memory Materials. in International Fluid Power Conference, 2018, pp. 446-459. 24.Andrikopoulos, G., et al., A Survey on applications of Pneumatic Artificial Muscles. in Control & Automation (MED), 2011 19th Mediterranean Conference on, 2011, pp. 1439-1446. 25.Ching Ping, C. and Hannaford, B., Static and dynamic characteristics of McKibben pneumatic artificial muscles. in Robotics and Automation, 1994. 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IEEE Transactions on Systems, Man, and Cybernetics, 1985. SMC-15: p. 116-132. 34.Shun Po, C., Pneumatic Proportional Pressure Valve Driven by Magnetic Shape Memory Actuator, in Institute of Engineering Science and Ocean Engineering. 2019, National Taiwan University: Taipei City. p. 76. 35.Zhen Yu, Z., et al., Fuzzy gain scheduling of PID controllers. IEEE transactions on Systems, Man, and Cybernetics, 1993. 23(5), 1392-1398. | - |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/91733 | - |
dc.description.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。 | zh_TW |
dc.description.abstract | 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. | en |
dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2024-02-22T16:28:14Z No. of bitstreams: 0 | en |
dc.description.provenance | Made available in DSpace on 2024-02-22T16:28:14Z (GMT). No. of bitstreams: 0 | en |
dc.description.tableofcontents | 誌謝 iii
中文摘要 v ABSTRACT vii CONTENTS ix LIST OF FIGURES xi LIST OF TABLES xvi Chapter 1 Introduction 1 1.1 Preface 1 1.2 Literature Survey 2 1.2.1 Magnetic Shape Memory Actuator and Applications 2 1.2.2 Pneumatic Muscle Actuator 5 1.2.3 Control Theory 6 1.3 Motivation of the Thesis 8 1.4 Thesis Outline 9 Chapter 2 Test Rig Layout 10 Chapter 3 Controller Design 15 3.1 Fuzzy Gain Scheduling PID Control Theory [35] 15 3.2 Fuzzy Gain Scheduling PID Controller Design 21 Chapter 4 Experimental Results and Discussions 23 4.1 Closed-Loop Position Control without a Load 23 4.1.1 Position Control Response in Unit Step 23 4.1.2 Position Sinusoidal Trajectory Control 34 4.1.3 Position Triangular Trajectory Control 50 4.2 Closed-Loop Position Control with a Load 66 4.2.1 Position Unit Step Response in Closed-Loop Control 66 4.2.2 Position Sinusoidal Trajectory Control 71 4.2.3 Position Triangular Trajectory Control 76 Chapter 5 Conclusions 82 Reference 83 | - |
dc.language.iso | en | - |
dc.title | 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 | zh_TW |
dc.title | Position Control of Pneumatic Muscle Actuators Using Two Pneumatic Proportional Pressure Valves | en |
dc.type | Thesis | - |
dc.date.schoolyear | 112-1 | - |
dc.description.degree | 碩士 | - |
dc.contributor.oralexamcommittee | 李聯旺;林浩庭;趙修武 | zh_TW |
dc.contributor.oralexamcommittee | Lian-Wang Li;Hao-Ting Lin;Xiu-Wu Zhao | en |
dc.subject.keyword | 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, | zh_TW |
dc.subject.keyword | Magnetic shape memory actuator,Proportional pneumatic pressure valve,Position control,Pneumatic muscle actuators,Fuzzy gain scheduling PID control, | en |
dc.relation.page | 86 | - |
dc.identifier.doi | 10.6342/NTU202400446 | - |
dc.rights.note | 未授權 | - |
dc.date.accepted | 2024-02-04 | - |
dc.contributor.author-college | 工學院 | - |
dc.contributor.author-dept | 工程科學及海洋工程學系 | - |
顯示於系所單位: | 工程科學及海洋工程學系 |
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