人工肌肉氣壓缸於力感控制系統研究

Abstract

本論文主要是探討人工肌肉氣壓缸應用於力感控制系統之研究，並比較控制器之設計。文中首先探討順滑控制、模糊滑模控制和自適應模糊滑模控制在人工肌肉氣壓缸之軌跡追隨控制。該人工肌肉氣壓缸平台是將人工肌肉氣壓缸一端固定，另一端經由繩索連接至一彈簧質量系統所形成，以此比較滑模控制器、模糊滑模控制器與自適應模糊滑模控制器在人工肌肉氣壓缸平台之軌跡追隨上之優劣。 而後再將前述之控制器設計應用於力感控制系統。本文之力感控制系統之計算力是經由二階彈簧─阻尼系統計算而得，並分別以位置迴路、速度迴路與力量迴路經由所設計之控制器達成力量控制，並於人工肌肉氣壓缸產生相應之拉力，呈現動態力回饋特性。 研究結果顯示，自適應模糊滑模控制器之強健性優於順滑控制器及模糊順滑控制器，而力量迴路力感控制迴路設計優於位置迴路力感控制與速度迴路力感控制。In this paper the application of a pneumatic artificial muscle to the control loading system is investigated, and the controller designs are compared. Trajectory tracking control in this paper is first studied based on the sliding mode controller, the fuzzy sliding mode controller and the adaptive fuzzy sliding mode controller for the pneumatic artificial muscle. The pneumatic artificial muscle testbed is made with a steel string fixed at one end, and the other end connected to a spring-mass system, such that these three controllers are in comparison on the trajectory tracking for the pneumatic artificial muscle testbed. Afterwards, the designed controllers are applied to a control loading system, in which the computed force is calculated using a second-order mass-spring-damper model, and the force control is implemented via the respective position-loop, velocity-loop and force-loop algorithm. The results show that the robustness of the adaptive fuzzy sliding mode controller is better than the sliding mode controller and the fuzzy sliding mode controller. In addition, the force-loop algorithm is better than the position-loop algorithm and the velocity-loop algorithm on the control loading system design.