Akademik Veri Yönetim Sistemi
Tezin Türü: Yüksek Lisans
Tezin Yürütüldüğü Kurum: Çukurova Üniversitesi, Fen Bilimleri Enstitüsü, Biyomedikal, Türkiye
Tezin Onay Tarihi: 2020
Tezin Dili: Türkçe
Öğrenci: ELİF TUĞBA BAĞLAR
Danışman: Cabbar Veysel Baysal
Özet:
Pneumatic artificial muscles (PAM) are actuators having many advantages
such as high force to weight ratio, ease of maintenance, low cost,
flexible structure. In addition, PAM is especially suitable for
rehabilitation devices due to its operating character compliant to human
muscle. On the other hand, pneumatic artificial muscles have major
drawback that makes difficult to control due to their nonlinear
properties.
In this thesis, control systems have been analyzed and designed to solve
the nonlinear control problem that restricts the use of pneumatic
artificial muscle. Based on PID, Fuzzy PID and Sliding Mode Control
methods, designs have been made according to the rehabilitation-oriented
performance of the pneumatic artificial muscle. The main difference of
this study from the literature is that control systems are designed for
on/off valves which are more economical and allow the pneumatic
artificial muscle to work in compliance, instead of the common
proportional valves and pressure regulators. The designs have been
experimentally evaluated on the pneumatic artificial muscles, which are
included in the PAM control experimental setup and operated with on/off
valves. According to the experimental results, the model-free Sugeno
type combined fuzzy PID controller has yielded most successful
performance as a simple and effective solution for the rehabilitation
use of pneumatic artificial muscles (PAM).