PID control of vertical pneumatic artificial muscle system
نویسندگان
چکیده
Pneumatic Artificial Muscle (PAM) overcome the other common actuators as it has higher power-to-weight ratio. However, the air compressibility and lack of damping ability of PAM brings dynamic delay to the pressure response and causes oscillatory motion to occur. It is not easy to realize the motion with high accuracy and high speed due to all the non-linear characteristics of pneumatic system. A PID control using Ziegler Nichols method for a PAM system in vertical axis to control the tracking motion of the PAM is proposed in this paper. The effectiveness of the proposed control algorithm is demonstrated through experiments.
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