Authors:
Marco Santos
;
Jorge Ferreira
and
José Simões
Affiliation:
University of Aveiro, Portugal
Keyword(s):
Servo-pneumatics, Fuzzy control, PI control, Hybrid fuzzy P+I control, High position accuracy, Biomechanical devices, Fatigue tests, Instrumented hip joint prosthesis.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Computational Intelligence
;
Control and Supervision Systems
;
Distributed Control Systems
;
Fuzzy Control
;
Fuzzy Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Real-Time Systems Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Soft Computing
Abstract:
This paper proposes a hybrid fuzzy P+I controller for a servo-pneumatic machine to perform and monitor tests on biomechanical devices, such as orthopaedic prosthesis. The methodology followed is based upon the CompactRIO®, a real-time platform, and the system was fully programmed using LabVIEW language. Separate algorithms of a PI, proportional fuzzy and hybrid fuzzy P+I controllers were developed and compared. The performance of the overall system has already been tested and the experimental results for position control show that the PI controller can reach 2 µm of accuracy but with a very slow rise time. However, the same accuracy can be achieved with Hybrid Fuzzy P+I controller, although with a fast rise time and neglected overshoot. The authors can conclude that this proposal can successfully overcome unknown nonlinear parameters of the pneumatic system and has high position control accuracy.