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9. تٌکاتي آیٌذگاى ػالی آهَسش ِهَسس
هٌْذسی ػلَم ِتَسؼ هلی كٌفزاًس دٍهیي
اردیثْطت تٌکاتي94
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10. تٌکاتي آیٌذگاى ػالی آهَسش ِهَسس
هٌْذسی ػلَم ِتَسؼ هلی كٌفزاًس دٍهیي
اردیثْطت تٌکاتي94
Optimal Control of Mechanical Impedance for a Servo-Pneumatic
System Based on Fuzzy-PWM Algorithm
M.Siavashia
, M.Hasanloub
, F.Najafic
, N.Nariman Zadehd
a,b,c,d Department of Mechanical Engineering, Faculty of Engineering, University of Guilan, P.O. Box 3756, Rasht, Iran
Abstract
This study models a servo-pneumatic cylinder and mechanical impedance control by fuzzy logic. Pneumatic
systems are appropriate equipment in order to interact with environment and construct skilled manipulators
due to high power-to-weight ratio, availability of the working fluid, pureness, and stiffness. However,
compressibility of air and structural and parametric uncertainties leads to nonlinear equations for pneumatic
systems. Therefore, their exact control is a vital issue. Also, the interaction of the actuators with environment
makes power control or a combination of control and situation necessary. Fuzzy logic can be appropriate to
control nonlinear systems due to nonlinear mapping. Therefore, in this study first a PID controller with
optimal coefficients was designed for mechanical impedance control of pneumatic cylinder. Then inspiring
by PID controller, fuzzy controller was designed. In the following, fuzzy membership function parameters
were optimized using GA so that system would have minimum error in tracking and mechanical impedance.
Finally, recommended controllers were tested for different standard inputs and the results were shown.
Keywords: mechanical impedance, servo-pneumatic, pulse width modulation, fuzzy logic