Pneumatic Artificial Muscle Actuation and Modeling

Leephakpreeda, Thananchai; Wickramatunge, Kanchana Crishan

doi:10.1063/1.3256256

Cited by 9 publications

(2 citation statements)

References 8 publications

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“…As seen in (8), it is clear that the heat input is employed to regulate the hydride formation in both the absorption and desorption processes in order to obtain the desired pressure following the requirement of driving force in actuation ap plications especially servo actuation system such as position or force control [17].…”

Section: Mathematical Modeling Of the Mh Sys Temmentioning

confidence: 99%

Control of metal hydride reactor coupled with thermoelectric module via fuzzy adaptive PID controller

Nuchkrua

Leephakpreeda

2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Ahstract-This paper presents a control technique for im proving the thermodynamics characteristic of the hydrogen gas within metal hydride(MH) reactor by heating/cooling with a thermoelectric module, Peltier element. Practically, the uncer tainty of the parameters, such as unexpected outside temper ature of the reactor. Additionally, the complicated problem of the integrated system model, Peltier and MH reactor, make the system to be nonlinear which makes it hard to use the con ventional controller like proportional+integral+derivative, PID, or conventional fuzzy control to improve dynamic response. To obtain a high performance of the thermal management for the MH reactor, the fuzzy adaptive PID is developed. The fuzzy rules based on the knowledge of MH system are used to adapt the gain parameters of the PID control. The mathematical model of the MH thermal system is determined for using as the knowledge base for fuzzy rules. The experimental results show the effectiveness of the proposed technique that compared to conventional control.

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Section: Mathematical Modeling Of the Mh Sys Temmentioning

confidence: 99%

Control of metal hydride reactor coupled with thermoelectric module via fuzzy adaptive PID controller

Nuchkrua

Leephakpreeda

2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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“…As illustrated in Figure 2, mechanical actuations of PAMs are conventionally performed under an air-powered system [27]. Without loss of generality, hydrogen gas, as working fluid in this work, is supplied into or released out of a chamber of the PAM during mechanical actuations instead of air.…”

Section: Mechanical Actuation Of Pam Via Controlling Mh Reactor Coupled With Temmentioning

confidence: 99%

Actuation of Pneumatic Artificial Muscle via Hydrogen Absorption/Desorption of Metal Hydride-LaNi₅

Nuchkrua

Leephakpreeda

2014

Advances in Mechanical Engineering

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This paper presents experimental studies on mechanical actuations of a pneumatic artificial muscle (PAM), which is driven by hydrogen gas based metal hydride (MH). The dynamic performances of hydrogen absorption/desorption, taking place within a MH reactor, are controlled via implementing cooling/heating effects of a thermoelectric module (TEM). Hydrogen pressure is applied as a driving force to commanding work outputs of the PAM as desired mechanical actuations. Due to strong inherent nonlinearity, a conventional proportional integral derivative (PID) control law is not capable of regulating thermodynamic variables of the HM reaction according to desired performances of the PAM. In this study, the fuzzy adaptive PID control is proposed in manipulating the MH reaction via the TEM. This viability of the proposed methodology is confirmed by the fact that the gains of PID control law are adapted by fuzzy rule-based tuning scheme at various operating conditions of the MH reactor. The experimental results show that the proposed control technique is much more effective than a PID control in both transient and steady state performances of the MH reactor for servo mechanical actuation of the PAM.

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Fabrication of Parallel Mechanism Actuated by Pneumatic Artificial Muscle for Rehabilitation Therapy

Sathyan¹,

Rani

Kurappa

et al. 2022

International Conference on Artificial Intelligence for Smart Community

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Pneumatic Artificial Muscle Actuation and Modeling

Cited by 9 publications

References 8 publications

Control of metal hydride reactor coupled with thermoelectric module via fuzzy adaptive PID controller

Control of metal hydride reactor coupled with thermoelectric module via fuzzy adaptive PID controller

Actuation of Pneumatic Artificial Muscle via Hydrogen Absorption/Desorption of Metal Hydride-LaNi₅

Fabrication of Parallel Mechanism Actuated by Pneumatic Artificial Muscle for Rehabilitation Therapy

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Pneumatic Artificial Muscle Actuation and Modeling

Cited by 9 publications

References 8 publications

Control of metal hydride reactor coupled with thermoelectric module via fuzzy adaptive PID controller

Control of metal hydride reactor coupled with thermoelectric module via fuzzy adaptive PID controller

Actuation of Pneumatic Artificial Muscle via Hydrogen Absorption/Desorption of Metal Hydride-LaNi5

Fabrication of Parallel Mechanism Actuated by Pneumatic Artificial Muscle for Rehabilitation Therapy

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Actuation of Pneumatic Artificial Muscle via Hydrogen Absorption/Desorption of Metal Hydride-LaNi₅