Dynamic modeling of PAM based actuator using modified Hill´s muscle model

Author

Pitel, J. ; Tothova, M.

Author_Institution

Dept. of Math., Inf. & Cybern., Tech. Univ. of Kosice, Presov, Slovakia

fYear

2013

fDate

26-29 May 2013

Firstpage

307

Lastpage

310

Abstract

Dynamic model of PAM based actuator consisting of two pneumatic artificial muscles (PAMs) in antagonistic connection and two ON/OFF twin-solenoid valves was designed and simulated in Matlab/Simulink environment. This model is based on modified Hill´s muscle model which has two basic elements that represent static and dynamic force in a muscle: a contractile element and a variable damper. The designed model was simulated with purpose to gain knowledge about dynamic behavior of the real PAM based actuator useful in control system design. There are presented in paper some simulation results of the main dynamic characteristics of the actuator.

Keywords

control system synthesis; electroactive polymer actuators; pneumatic actuators; valves; vibration control; Matlab-Simulink environment; ON-OFF twin-solenoid valve; PAM based actuator; actuator dynamic characteristics; antagonistic connection; contractile element; control system design; dynamic modeling; modified Hill muscle model; muscle dynamic force; muscle static force; pneumatic artificial muscles; variable damper; Actuators; Atmospheric modeling; Biological system modeling; Force; Muscles; Solenoids; Valves; artificial muscle; dynamic simulation; muscle model; pneumatic actuator;

fLanguage

English

Publisher

ieee

Conference_Titel

Carpathian Control Conference (ICCC), 2013 14th International

Conference_Location

Rytro

Print_ISBN

978-1-4673-4488-3

Type

conf

DOI

10.1109/CarpathianCC.2013.6560559

Filename

6560559