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Feasibility of Pi Control for a Double-Acting Cylinder Actuated by Mckibben Muscles

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RiTA 2020

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

Pneumatic actuators are fast becoming a key instrument where cost, safety or pollution is a concern. They can be of linear or rotary type, depending on the motion they produce. Linear pneumatic actuator is also commonly known as pneumatic cylinder because it usually consists of a piston housed in a hollow cylinder. In this study, the feasibility of PID control for a double-acting cylinder actuated by McKibben muscles (DACAM) had been investigated. Due to the nonlinearity and hysteresis properties of the muscle, separate controllers for forward actuation and reverse actuation had been used. Result shows that when given a staircase input, the feedback system gave an average response of 4.28 s rise time, 6.06 s settling time, 0.01% overshoot and 0.01% steady-state error for forward actuation and 8.25 s fall time, 9.28 s settling time, 2.86% overshoot and 2.86% steady-state error for reverse actuation. The evidence from this study suggests that position control of a DACAM using PI control is possible. An implication of this is the possibility of developing a small, lightweight and simple pneumatic cylinder using McKibben muscles.

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Acknowledgement

The authors would like to acknowledge the support provided by Ministry of Higher Education (MOHE) and Universiti Teknologi Malaysia (UTM) Collaborative Research Grant (CRG), Grant No. 08G30 and 08G31.

Author information

Authors and Affiliations

  1. Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, 54100, Kuala Lumpur, Malaysia

    Mohd Akmal Mhd Yusoff

  2. School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, 81310, Johor Bahru, Johor, Malaysia

    Ahmad Athif Mohd Faudzi

  3. Centre for Artificial Intelligence and Robotics, Universiti Teknologi Malaysia, 54100, Kuala Lumpur, Malaysia

    Ahmad Athif Mohd Faudzi

  4. Engineering Research Centre, MARDI, 43400, Serdang, Selangor, Malaysia

    Mohd Shukry Hassan Basri

Authors
  1. Mohd Akmal Mhd Yusoff
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  2. Ahmad Athif Mohd Faudzi
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  3. Mohd Shukry Hassan Basri
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Corresponding author

Correspondence to Ahmad Athif Mohd Faudzi .

Editor information

Editors and Affiliations

  1. Cardiff Metropolitan University, Cardiff, UK

    Esyin Chew

  2. Faculty of Manufacturing and Mechatronic Engineering Technology, Universiti Malaysia Pahang, Pekan, Malaysia

    Anwar P. P. Abdul Majeed

  3. University of York, York, UK

    Pengcheng Liu

  4. Cardiff Metropolitan University, Cardiff, UK

    Jon Platts

  5. School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Hyun Myung

  6. School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Junmo Kim

  7. Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Jong-Hwan Kim

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Mhd Yusoff, M.A., Mohd Faudzi, A.A., Hassan Basri, M.S. (2021). Feasibility of Pi Control for a Double-Acting Cylinder Actuated by Mckibben Muscles. In: Chew, E., et al. RiTA 2020. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-16-4803-8_33

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