| Budget Amount *help |
¥13,780,000 (Direct Cost: ¥10,600,000、Indirect Cost: ¥3,180,000)
Fiscal Year 2015: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2014: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2013: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
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| Outline of Final Research Achievements |
This project was aimed at developing fundamental measurement and control technologies for a pneumatic actuator unit with multiple McKibben pneumatic artificial muscles (PAMs). Acquiring a precise mathematical model of the PAM that enables to simulate dynamic behaviors of the PAM well, the model-based measurement and control methods have been developed. In contraction and expansion processes of the PAM its behaviors are nonlinear due to friction of a tube and fluid dynamics of compressed air. This project has obtained precise and stable switched systems in the state-space form. A model validation using measured data from a practical PAM system confirms that the outputs of the model are very close to the real outputs. Moreover, the obtained model enabled to develop an estimator of the contraction ratio, such as an unscented Kalman filter and an extended Kalman filter, and to consider a model predictive control and its implementation to the practical system.
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