ĐIỀU KHIỂN VỊ TRÍ CƠ KHÍ NÉN NHÂN TẠO BẰNG CÁC BỘ ĐIỀU KHIỂN PID VÀ PI

Abstract

In this paper, a PID controller is proposed for the position control of the pneumatic artificial muscle (PAM) combined with the PI controller for the air pressure in/out of the PAM. An experimental model was set up to demonstrate the feasibility of the controller. The control algorithm was implemented on the MATLAB/Simulink software through the TI C2000 real-time embedded control circuit to control the air pressure in/out of the pneumatic artificial muscle, thereby controlling the muscle position. The results show that the ability to control the position of the PID-PI controller with the coefficients found by trial and error is quite good, with an error of close to 1.5%, there is almost no overshoot, and a set time of one second. In addition, the effect of the suspension load on the system response through the results of the pressure controller.