Active Disturbance Rejection Control for Pneumatic Artificial Muscle Driven by Fast Switching on/off Solenoid Valve
| Autor: | Yu Jin, Huang Guo-qin, Li Antai |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science PID controller 02 engineering and technology Servomechanism 021001 nanoscience & nanotechnology Active disturbance rejection control law.invention 020901 industrial engineering & automation law Control theory Duty cycle Control system Solenoid valve 0210 nano-technology Pulse-width modulation |
| Zdroj: | 2019 5th International Conference on Control, Automation and Robotics (ICCAR). |
| DOI: | 10.1109/iccar.2019.8813411 |
| Popis: | A pneumatic artificial muscle (PAM) position servo system driven by fast switching on/off solenoid valves is proposed. According to the active disturbance rejection technology, a second order active disturbance rejection controller (ADRC) is designed. Using absolute angle encoder to measure the position of PAM, then the ADRC generates the desired duty cycle pulse-width modulation (PWM) signal to drive the high-speed on-off valve. The step, square and sinusoidal input signal tracking tests are carried out on the system, and the results are compared with the proportional-integral-derivative (PID) control system. The experimental data analyses show that the ADRC is better than the PID controller. It has the characteristics of fast response and high control precision, and can meet the control requirements of pneumatic artificial muscle. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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