氣壓肌肉致動器單軸機械臂軌跡追蹤控制之研究

Development of Tracking Control of a Single-Axis Robot Arm with Pneumatic Muscle Actuators

林冠佑(Guan-You Lin)

指導教授 ： 江茂雄

國立臺灣大學/工學院/工程科學及海洋工程學研究所/碩士(2008年)

https://doi.org/10.6342/NTU.2008.10445

摘要

本文旨在研究新型致動器–氣壓肌肉致動器以及其在氣壓伺服系統上的應用，為了解單軸氣壓肌肉致動器的特性，首先設計單軸氣壓肌肉致動器的實驗系統，進行位置軌跡定位及軌跡追蹤的模擬及實驗。再進一步，建立以雙氣壓肌肉致動器驅動的機械臂實驗系統，採用兩根氣壓肌肉致動器，構成一個轉動關節，經由一個收縮，另一個伸長所產生的長度變化及收縮力變化，使機械臂的關節轉動，做進一步角度定位及軌跡追蹤的模擬及實驗。
本文針對兩系統的數學模型進行降階簡化，使兩系統為一三階非線性時變系統，且滿足匹配條件。在控制器的部份，本文引用以函數近似法為基礎之適應性滑動模式結合 控制之軌跡控制器，採用函數近似法近似系統數學模型可克服系統之高度不確定性及時變問題。為避免點對點控制易產生超越量，造成系統振盪影響穩態時間，本文以軌跡定位的方式進行定位控制，同時兼顧暫態及穩態特性。
本文首先以電腦動態模擬驗證其可行性，最終以實驗實現，包含單軸氣壓肌肉致動器系統位置定位及軌跡追蹤控制，雙氣壓肌肉致動器驅動機械臂系統角度定位及軌跡追蹤控制。實驗證實單軸氣壓肌肉致動器系統在收縮時可成功定位到 0.18微米，伸長時為0.35微米，在雙氣壓肌肉致動器驅動機械臂伺服系統方面，角度可成功定位到0.2度，且皆可達到良好的軌跡追蹤效果。

關鍵字

氣壓伺服系統 ； 氣壓肌肉致動器 ； 機械臂 ； 函數近似法 ； 適應性滑動模式結合H infinite控制之軌跡控制

並列摘要

The paper aims to develop a novel pneumatic robot system driven by Pneumatic Muscle Actuators (PMA). In order to analyze the characteristics of the PMA, non-linear modeling, dynamic simulation and experiments of path tracking control and path-positioning control are implemented for the single PMA firstly. Then, the dual-PMA robot arm is also implemented for the rotational angle control in simulation and experiment where the rotational axis is driven by two PMAs, i.e. one is in extension and the other is in contraction.
To realize the rotational angle control, Fourier series-based adaptive sliding mode controller with tracking performance is used to control the PMAs through the pressure control servo valves. For ensuring the smooth motion, the path-position control is realized to keep both the transient and steady state response.
The simulation and experiment of the path-positioning control, including the single-axis pneumatic muscle actuator and the dual-PMA robot arm are performed and show that the system can achieve high positioning accuracy and excellent tracking performance.

並列關鍵字

pneumatic servo system ； pneumatic muscle actuator ； robot arm ； Fourier series-based ； adaptive sliding mode controller ； H infinite tracking control

參考文獻

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