Control PAM Manipulator with Nonlinear PID Controller using Neural Network

Last Updated on Monday, 14 March 2011 09:54 Written by Administrator Friday, 05 February 2010 15:45

Advantages of PAM

• PAMs are very lightweight because their main element is a thin membrane.
• Initial force up to 10 times higher than a conventional cylinder of the same diameter.
• Highly dynamic response, even at high loads
• High strength and high power/weight ratio.
• Low cost, easy of maintenance, cleanliness,
• The inherent compliant behaviour. Compliance is due to the compressibility of air.
• This is an important feature whenever there is an interaction between man and machine of  when delicate operations have to be carried out(e.g. handling of fragile objects)

Disadvantages of PAM

• In PAMs the force is not only dependent on pressure but also on their state of inflation.
• Gas is compressible, so a PAM that uses long tubes must have a control system that can deal with a delay between the movement control signal and effective muscle action.
• A PAM actuator system needs electric valves and a compressed air generator,which are neither light nor small.
• The complex nonlinear dynamics of the PAM
• The problems with the time variance, compliance, high hysteresis and nonlinearity of pneumatic systems

Nonlinear dynamics of the PAM

Working principle of the PAM manipulator

Composition of control system

Simple mechanical model for testing

Structure of the nonlinear PID controller using neural network

Structure of neural network

GUI for control and display

Control Model Using Matlab Simulink