Hysteresis Modelling of Pneumatic Artificial Muscle using General Cubic Equation and Factor Theorem Prediction Method / Mohd Azuwan Mat Dzahir...[et al.]

Mat Dzahir, Mohd Azuwan and Mat Dzahir, Mohd Azwarie and Hussein, Mohamed and Ahmad, Zair Asrar and Mohamad, Maziah and Mad Saad, Shaharil (2017) Hysteresis Modelling of Pneumatic Artificial Muscle using General Cubic Equation and Factor Theorem Prediction Method / Mohd Azuwan Mat Dzahir...[et al.]. Journal of Mechanical Engineering (JMechE), SI 4 (2). pp. 1-21. ISSN 18235514

Abstract

Due to inherent hysteresis in a pneumatic artificial muscle, the accompanying control of this compliant actuator becomes more complicated. In literature, only a few implementations of the hysteresis modelling in the associated position control system could be found. In addition, the high complexity of the contraction-force and contraction-pressure models when accounting for hysteresis effect, the implementation of such model is limited in its use in the pneumatic muscle position control only. However, implementing a complicated control algorithm does not always indicate the best solution that could be used to control the pneumatic artificial muscles. There are arguments in the field of rehabilitation robotics regarding what was the best control system to the orthotic problem for rehabilitation. It is preferred that the control system should be simplified as much as possible; multiple sensors and impedances are only increase the complexity of the control system. Rather than using a very complicated algorithm for control system of the pneumatic artificial muscle, a simple and noble prediction method using general cubic equation and factor theorem is proposed for the hysteresis modelling at different loads. The methodology used to establish the hysteresis modelling and prediction method of the pneumatic artificial muscle are as follows; first is the characterization of the pneumatic artificial muscle at different loads and pressures; second is to develop a prediction method for generating constraint models of hysteresis data at a different loads using general cubic equation and factor theorem; third is to establish a simple theorem or algorithm to extract the hysteresis models (i.e., contraction and expansion) of a pneumatic artificial muscle at different loads based on the generated constraint models; and the final stage of the research is to obtain the hysteresis models at different loads. The generated hysteresis models and hysteresis data obtained from experimental study were compared to verify the reliability of the proposed hysteresis modelling prediction method. The simulation results shows that the hysteresis modelling was able to generate an apropriate constraint models at a different loads.

Metadata

Item Type: Article
Creators:
CreatorsEmail / ID. Num
Mat Dzahir, Mohd Azuwanazuwan@mail.fkm.utm.my
Mat Dzahir, Mohd AzwarieUNSPECIFIED
Hussein, MohamedUNSPECIFIED
Ahmad, Zair AsrarUNSPECIFIED
Mohamad, MaziahUNSPECIFIED
Mad Saad, ShaharilUNSPECIFIED
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TJ Mechanical engineering and machinery > Mechanics applied to machinery. Dynamics
Divisions: Universiti Teknologi MARA, Shah Alam > Faculty of Mechanical Engineering
Journal or Publication Title: Journal of Mechanical Engineering (JMechE)
Journal: UiTM Journal > Journal of Mechanical Engineering (JMechE)
ISSN: 18235514
Volume: SI 4
Number: 2
Page Range: pp. 1-21
Item ID: 39029
Uncontrolled Keywords: Hysteresis Modelling Prediction Method, Pneumatic Artificial Muscle, General Cubic Equation, Factor Theorem
URI: http://ir.uitm.edu.my/id/eprint/39029

Download

[img] Text
39029.pdf

Download (680kB)

Others


View in Google Scholar

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year