Pressure regulation on a single finger of tri-finger pneumatic grasper robot using finite time and convergence prescribed performance control

• Autorzy: Irawan Addie , Azahar Mohd Iskandar Putra , Ramli Mohd Syakirin

Identyfikatory

DOI

10.15199/48.2023.09.18

Warianty tytułu

PL

Regulacja ciśnienia na pojedynczym palcu trójpalcowego pneumatycznego robota chwytającego z wykorzystaniem skończonego czasu i zalecanej konwergencji kontroli wydajności

• Języki publikacji: EN

Abstrakty

EN

This study presents a method for improving the precision of pneumatic pressure regulation and control in a finger of a tri-finger pneumatic grasper (TPG) robot. The method employs finite time and convergence prescribed performance control (FTC-PPC) in conjunction with proportional, integral, and derivative (PID) control as a strategy to overcome the nonlinearity and uncertainties of pressure regulation of the pneumatic system in the TPG. Besides finite-time tuning, the proposed PPC formulation also introduced convergence rate and domain. To test the method, several experiments were conducted using a 5/3-way pneumatic proportional valve (PPV) configuration with pressure transducers for feedback responses. Two different pressure input patterns, a step, and periodic in-put patterns were used in the experiments. The results show that the proposed controller outperformed the PID as well as the finite-time PPC with PID from the previous works in regulating the pressure for a finger of the TPG by average. 10% in terms of minimizing overshoot, suppressing oscillations, and providing a fast response.

PL

W pracy przedstawiono metodę poprawy precyzji pneumatycznej regulacji i sterowania ciśnieniem w palcu trójpalcowego robota chwytaka pneumatycznego (TPG). Metoda wykorzystuje sterowanie wydajnością w określonym czasie i konwergencji (FTC-PPC) w połączeniu ze sterowaniem proporcjonalnym, całkującym i różniczkującym (PID) jako strategią przezwyciężenia nieliniowości i niepewności regulacji ciśnienia w układzie pneumatycznym w TPG. Oprócz dostrajania w skończonym czasie, proponowane sformułowanie PPC wprowadziło również szybkość i dziedzinę konwergencji. Aby przetestować tę metodę, przeprowadzono kilka eksperymentów przy użyciu konfiguracji pneumatycznego zaworu proporcjonalnego (PPV) 5/3 z przetwornikami ciśnienia do odpowiedzi sprzężenia zwrotnego. W eksperymentach wykorzystano dwa różne wzorce wejściowe ciśnienia, krok i okresowe wzorce wejściowe. Wyniki pokazują, że proponowany regulator przewyższał PID, a także skończony czas PPC z PID z poprzednich prac w regulacji ciśnienia na palec TPG średnio.

Słowa kluczowe

EN

pneumatic robot system; prescribed performance control; pressure control

PL

system robota pneumatycznego; zalecana kontrola wydajności; kontrola ciśnienia

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2023
• Tom: R. 99, nr 9
• Strony: 98--103
• Opis fizyczny: Bibliogr. 25 poz., rys., tab.

Twórcy

autor

Irawan Addie

• Universiti Malaysia Pahang, 26600, Pekan, Pahang, Malaysia

• https://orcid.org/0000-0001-5844-8666

autor

Azahar Mohd Iskandar Putra

• Universiti Malaysia Pahang, 26600, Pekan, Pahang, Malaysia

• https://orcid.org/0000-0002-3999-7683

autor

Ramli Mohd Syakirin

• Universiti Malaysia Pahang, 26600, Pekan, Pahang, Malaysia

• https://orcid.org/0000-0002-9456-3706

Bibliografia

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