Control of servo system driven by pneumatic artificial muscles

Abstract

Pneumatic muscles are successfully used as a drive for simple machines. However, they are still more used in complex devices such as robotic systems, where they are part of servomechanism with a close control loop. This paper describes two variants of control system for this servo. The first one is using Matlab with Simulink simulation environment. In this solution, pneumatic valves are connected through I/O card directly to the computer. All control is made by regulator build from Simulink blocks. This program also use virtual model of controlled system designed in Realm Builder extension. The second way is usage of electronic pressure regulators. Paper describes device made of two EPR50 regulators designed specially for controlling one pair of pneumatic artificial muscles. This device is semi autonomous system that can work without any form higher control. Paper also presents one solution for interconnection of these two programs.