Pulse width modulation modeling for efficient pneumatic artificial muscle control
The aim of the article is to analyze the properties of artificial muscle system and effectiveness evaluation of the application of pulse width modulation in terms of improving the dynamic properties. In terms of dynamic properties, pneumatic artificial muscles represent a very complicated nonlinear...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-12-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814019895439 |
| _version_ | 1818148753889034240 |
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| author | Miroslav Rimar Marcel Fedak Ivan Corny Andrii Kulikov Stefan Kuna Olha Kulikova Jakub Vahovsky |
| author_facet | Miroslav Rimar Marcel Fedak Ivan Corny Andrii Kulikov Stefan Kuna Olha Kulikova Jakub Vahovsky |
| author_sort | Miroslav Rimar |
| collection | DOAJ |
| description | The aim of the article is to analyze the properties of artificial muscle system and effectiveness evaluation of the application of pulse width modulation in terms of improving the dynamic properties. In terms of dynamic properties, pneumatic artificial muscles represent a very complicated nonlinear structure. For this reason, the design of a robust positioning control system for pneumatic artificial muscle devices is demanding because, apart from the above-mentioned nonlinearity (because of air compressibility, air flow variability through valves, etc.), this is a time-and-parameter invariant system. The aim of the article is to evaluate the influence of pulse width modulation in pneumatic artificial muscle systems with regard to the accuracy and stability of the position achieved in the repeat mode, as well as the elimination of the adverse effect of the oscillation. The efficiency of the proposed control algorithm is demonstrated by experiments with external workload and no load. |
| first_indexed | 2024-12-11T12:56:09Z |
| format | Article |
| id | doaj.art-9a1cc261de3d47679db2234c69d2b772 |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-12-11T12:56:09Z |
| publishDate | 2019-12-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-9a1cc261de3d47679db2234c69d2b7722022-12-22T01:06:34ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402019-12-011110.1177/1687814019895439Pulse width modulation modeling for efficient pneumatic artificial muscle controlMiroslav RimarMarcel FedakIvan CornyAndrii KulikovStefan KunaOlha KulikovaJakub VahovskyThe aim of the article is to analyze the properties of artificial muscle system and effectiveness evaluation of the application of pulse width modulation in terms of improving the dynamic properties. In terms of dynamic properties, pneumatic artificial muscles represent a very complicated nonlinear structure. For this reason, the design of a robust positioning control system for pneumatic artificial muscle devices is demanding because, apart from the above-mentioned nonlinearity (because of air compressibility, air flow variability through valves, etc.), this is a time-and-parameter invariant system. The aim of the article is to evaluate the influence of pulse width modulation in pneumatic artificial muscle systems with regard to the accuracy and stability of the position achieved in the repeat mode, as well as the elimination of the adverse effect of the oscillation. The efficiency of the proposed control algorithm is demonstrated by experiments with external workload and no load.https://doi.org/10.1177/1687814019895439 |
| spellingShingle | Miroslav Rimar Marcel Fedak Ivan Corny Andrii Kulikov Stefan Kuna Olha Kulikova Jakub Vahovsky Pulse width modulation modeling for efficient pneumatic artificial muscle control Advances in Mechanical Engineering |
| title | Pulse width modulation modeling for efficient pneumatic artificial muscle control |
| title_full | Pulse width modulation modeling for efficient pneumatic artificial muscle control |
| title_fullStr | Pulse width modulation modeling for efficient pneumatic artificial muscle control |
| title_full_unstemmed | Pulse width modulation modeling for efficient pneumatic artificial muscle control |
| title_short | Pulse width modulation modeling for efficient pneumatic artificial muscle control |
| title_sort | pulse width modulation modeling for efficient pneumatic artificial muscle control |
| url | https://doi.org/10.1177/1687814019895439 |
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