Analysis of Step Responses in Nonlinear Dynamic Systems Consisting of Antagonistic Involvement of Pneumatic Artificial Muscles

The paper describes a set of experimental measurements carried out on the experimental equipment with a drive based on pneumatic artificial muscles. Based on the analysis of the PAMS control systems issue in relation to the issue of a position control, a control algorithm has been designed and verified. The requirements of the control systems do not arise only from the condition of the desired positioning point rapid achievement, but also from the subsequent dynamics and accuracy repeatability. This algorithm enables an efficient way of stabilization of the actuator position in various dynamic conditions during the operation. It allows eliminating undesirable vibrations oscillating around the point of the required position and dampening them appropriately. The article describes a set of performed verification experimental measurements confirming the applicability in relation to the system that controls the position of the actuator utilizing the described algorithm. The algorithm application enables a positive influencing and optimization of the actuator positioning accuracy and a full-valued automation of its operation.

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