Commenced in January 2007
Paper Count: 30982
Hybrid Fuzzy Selecting-Control-by- Range Controllers of a Servopneumatic Fatigue System
Abstract:The present paper proposes high performance nonlinear force controllers for a servopneumatic real-time fatigue test machine. A CompactRIO® controller was used, being fully programmed using LabVIEW language. Fuzzy logic control algorithms were evaluated to tune the integral and derivative components in the development of hybrid controllers, namely a FLC P and a hybrid FLC PID real-time-based controllers. Their behaviours were described by using state diagrams. The main contribution is to ensure a smooth transition between control states, avoiding discrete transitions in controller outputs. Steady-state errors lower than 1.5 N were reached, without retuning the controllers. Good results were also obtained for sinusoidal tracking tasks from 1/¤Ç to 8/¤Ç Hz.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1327634Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1627
 R. Pedro, "Controlo n├úo Linear de um Servo-mecanismo Pneum├ítico", Master Thesis in Automation, Instrumentation and Control, FEUP, University of Porto, Portugal, 2004.
 J. Carneiro, F. Almeida, "Modeling Pneumatic Servovalves Using Neural Networks" in Proc. IEEE Conference on Computer Aided Control Systems Design, Munich, Germany, 2006, pp, 790-795.
 J. Ferreira, F. Almeida, M. Quintas, "Semi-empirical model for a hydraulic servo-solenoid valve", in Proc. Instn Mech. Engrs, Part I, Journal of Systems and Control Engineering, vol. 216, 2002, pp. 237- 248.
 J. Carneiro, "Modela├º├úo e Controlo de Actuadores Pneum├íticos Utilizando Redes Neuronais Artificiais", PhD Thesis in Mechanical Engineering, University of Porto, Portugal, 2007.
 K. Suzumori, S. Endo, T. Kanda, N. Kato, H. Suzuki, "A Bending Pneumatic Rubber Actuator Realizing Soft-bodied Manta Swimming Robot", in Proc. IEEE International Conference on Robotics and Automation, Roma, Italy, 2007, pp. 4975-4980.
 E. Mangan, D. Kingsley, R. Quinn, H. Chie1,"Development of a Peristaltic Endoscope", in Proc. IEEE International Conference on Robotics and Automation, Washington, DC, EUA, 2002, pp. 347-352.
 A. Pujana-Arrese, J. Arenas, I. Retolaza, A. Martinez-Esnaola, J. Landaluze. "Modelling in Modelica of a Pneumatic Muscle: Application to model an Experimental Set-up", in Proc. 21st European Conference on Modelling and Simulation, 2007.
 E. Richer, Y. Hurmuzlu. "A High Performance Pneumatic Force Actuator System: Part II - Nonlinear Controller Design", ASME Journal of Dynamic Systems Measurement and Control, vol. 122, no.3, pp. 426- 434, 2000.
 F. Xiang, J. Wikander. "Block-oriented Approximate Feedback Linearization for Control of Pneumatic Actuator System", Control Engineering Practice, vol. 12, no. 4, pp. 387-399, 2004.
 P. Dufour, "Control Engineering in Drying Technology: Review and Trends", Drying Technology, vol. 24, no. 7, pp. 889-904, 2006.
 K. Passino, S. Yurkovich. "Fuzzy Control", Addison Wesley Longman, Menlo Park, CA, 1998.
 H. Zhang, D. Liu, "Fuzzy Modeling and Fuzzy Control", Birkh├ñuser, Control Engineering, Boston, USA, 2006
 S. Tzafestas, A. Venetsanopoulos, "Fuzzy Reasoning in Information, Decision and Control Systems", Kluwer Academic Publishers, Microprocessor-based Systems Engineering, Norwell, MA, USA, 1994
 H. Liu, J. Lee, B. Li, "High Precision Pressure Control of a Pneumatic Chamber Using a Hybrid Fuzzy PID Controller", International Journal of a Precision Engineering and Manufacturing, vol. 8, no. 3, pp. 8-13, 2007.
 S. Kaitwanidvilai, M. Parnichkun, "Force Control in a Pneumatic System Using Hybrid Adaptive Neuro-fuzzy Model Reference Control", Mechatronics vol. 15, pp. 23-41, 2005.
 C. Ying, Z. Jia-fan, Y. Can-jun, N. Bin, "Design and Hybrid Control of the Pneumatic Force-feedback Systems for Arm-Exoskeleton by Using On/off Valve", Mechatronics vol. 17, pp. 325-335, 2007.
 L. Ruihua, S Weixiang, Y. Qingyu, "Multi-region Fuzzy Tracking Control For a Pneumatic Servo Squeezing Forces System", in Proc. 5th World Congress on Intelligent Control and Automation, Hangzhou, China, 2004, pp. 4504-4507.
 B. Kosko, "Neural Networks and Fuzzy Systems", Prentice-Hall, 1992.
 L. Wang, "Adaptative Fuzzy Systems and Control", Prentice-Hall, 1994.
 M. Santos, P. Talaia, A. Ramos, J. Ferreira, M. Oliveira, "Servo- Pneumatic Machine to Perform and Monitor Tests on Biomechanical Devices", in Proc. of the 8th Portuguese International Conference on Automatic Control, Vila Real, Portugal, 2008, pages 784 -789.
 M. Santos, "Controlo de um Sistema Servopneum├ítico para Ensaios de Fadiga", Master Thesis in Industrial Automation Engineering, University of Aveiro, Aveiro, Portugal, 2009.
 J. Ferreira, P. Sun, J. Gr├ício, "Design and Control of a Hydraulic Press", in Proc. IEEE Conference on Computer Aided Control Systems Design, Munich, Germany, 2006, pp. 814- 819.
 P. MacVicar-Whelan, "Fuzzy sets for man-machine interaction", Intl. J. Man-Machine Studies, vol. 8, pp. 687-697, 1976.
 J. Carvalho, "Sistemas de Controle Autom├ítico", LTC Editora, Rio de Janeiro, 2000.