Modeling and Control of Shape Memory Alloy Actuator Using Feedback Linearization
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- 英文论文题名：Modeling and Control of Shape Memory Alloy Actuator Using Feedback Linearization
- 论文作者：Li Xiaoguang ; Zhang Daohui ; Zhao Xingang ; Jianda Han
- 英文论文作者：Li Xiaoguang ; Zhang Daohui ; Zhao Xingang ; Jianda Han ; State Key Laboratory of Robotics ; Shenyang Institute of Automation ; Chinese Academy of Sciences ; University of Chinese Academy of Sciences ; Shenyang University of Technology
- 年：2017
- 作者机构：State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences;University of Chinese Academy of Sciences;Shenyang University of Technology;
- 英文论文关键词：SMA ; FBL ; Modeling
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TG139.6
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：1576k
- 原文格式：D
- 会议级别：全国
摘要
The paper presents the modeling and linear control of shape memory alloy(SMA) actuator. A complete system mathematical model of SMA actuator is constructed, all uncertain parameters are evaluated through nonlinear least squares method from matlab parameter estimation tool. The feedback linearization(FBL) theory is applied, The SMA actuator system is transformed from nonlinear system to linear system so that all mature linear control theory can be used. In this paper, a simple gain matrix is utilized to establish Hurwitz, achieves the output position tracking, and ensures the system stability. Two control schemes, FBL and PID, are compared in dynamic response and response error.
The paper presents the modeling and linear control of shape memory alloy(SMA) actuator. A complete system mathematical model of SMA actuator is constructed, all uncertain parameters are evaluated through nonlinear least squares method from matlab parameter estimation tool. The feedback linearization(FBL) theory is applied, The SMA actuator system is transformed from nonlinear system to linear system so that all mature linear control theory can be used. In this paper, a simple gain matrix is utilized to establish Hurwitz, achieves the output position tracking, and ensures the system stability. Two control schemes, FBL and PID, are compared in dynamic response and response error.
The paper presents the modeling and linear control of shape memory alloy(SMA) actuator. A complete system mathematical model of SMA actuator is constructed, all uncertain parameters are evaluated through nonlinear least squares method from matlab parameter estimation tool. The feedback linearization(FBL) theory is applied, The SMA actuator system is transformed from nonlinear system to linear system so that all mature linear control theory can be used. In this paper, a simple gain matrix is utilized to establish Hurwitz, achieves the output position tracking, and ensures the system stability. Two control schemes, FBL and PID, are compared in dynamic response and response error.
引文
1.Lester,B.T.,et al.,Review and perspectives:shape memory alloy composite systems.Acta Mechanica,2015.226(12):p.3907-3960.
2 .Lagoudas,D.C.,Shape memory alloys.Science and Business Media,LLC,2008.
3 .Bellini,A.,M.Colli,and E.Dragoni,Mechatronic design of a shape memory alloy actuator for automotive tumble flaps:a case study.IEEE Transactions on Industrial Electronics,2009.56 (7):p.2644-2656.
4 .Gradin,H.,et al.,SMA microvalves for very large gas flow control manufactured using wafer-level eutectic bonding.IEEE Transactions on Industrial Electronics,2012.59(12):p.4895-4906.
5 .Romano,R.and E.A.Tannuri,Modeling,control and experimental validation of a novel actuator based on shape memory alloys.Mechatronics,2009.19(7):p.1169-1177.
6 .Elahinia,M.H.and H.Ashrafiuon,Nonlinear control of a shape memory alloy actuated manipulator.Journal of Vibration and Acoustics-Transactions of the Asme,2002.124(4):p.566-575.
7 .Moallem,M.and V.A.Tabrizi,Tracking Control of an Antagonistic Shape Memory Alloy Actuator Pair.Ieee Transactions on Control Systems Technology,2009.17(1):p.184-190.
8 .Ianagui,A.and E.A.Tannuri,A sliding mode torque and position controller for an antagonistic SMA actuator.Mechatronics,2015.30:p.126-139.
9 .Kazuhiko Arai,S.A.,Kazuhisa Yanagisawa,Feedback Linearization for SMA(Shape Memory Alloy).proceedings of the 34th SICE Annual Conference,1995:p.1383-1386.
10 .Nikdel,N.,et al.,Using Neural Network Model Predictive Control for Controlling Shape Memory Alloy-Based Manipulator.Ieee Transactions on Industrial Electronics,2014.61 (3):p.1394-1401.
11 .Tai,N.T.and K.K.Ahn,A RBF neural network sliding mode controller for SMA actuator.International Journal of Control,Automation and Systems,2011.8(6):p.1296-1305.
12 .Jin,M.,J.Lee,and K.K.Ahn,Continuous Nonsingular Terminal Sliding-Mode Control of Shape Memory Alloy Actuators Using Time Delay Estimation.Ieee-Asme Transactions on Mechatronics,2015.20(2):p.899-909.
13 .Gilardi,G.,et al.,A shape memory alloy based tendon-driven actuation system for biomimetic artificial fingers,part II:modelling and control.Robotica,2010.28(05):p.675-687.
14 .Kha,N.B.and K.K.Ahn.Position control of shape memory alloy actuators by using self tuning fuzzy PID controller.in Industrial Electronics and Applications,2006 1ST IEEE Conference on.2006.IEEE.
15 .Ikuta,K.,M.Tsukamoto,and S.Hirose,Mathematical-Model and Experimental-Verification of Shape Memory Alloy for Designing Micro Actuator.Ieee Micro Electro Mechanical Systems,1991:p.103-108.
16 .Dutta,S.M.and F.H.Ghorbel,Differential hysteresis modeling of a shape memory alloy wire actuator.Ieee-Asme Transactions on Mechatronics,2005.10(2):p.189-197.
17 .Brailovski,V.,F.Trochu,and G.Daigneault,Temporal characteristics of shape memory linear actuators and their application to circuit breakers.Materials&Design,1996.17 (3):p.151-158.
18 .Madill,D.R.and D.Wang,Modeling and L2-stability of a shape memory alloy position control system.Ieee Transactions on Control Systems Technology,1998.6(4):p.473-481.
19 .Likhachev,A.A.,Differential Equation of Hysteresis:Application to Partial Martensitic Transformation in Shape-Memory Alloys.Le Journal de Physique IV,1995.05(C2):p.C2-465-C2-469.
20 .Barbarino,S.,et al.,Airfoil Structural Morphing Based on SMA Actuator Series:Numerical and Experimental Studies.Journal of Intelligent Material Systems and Structures,2011.22(10):p.987-1004.
21 .Abdelaal,W.G.A.and G.Nagib,Modeling and Simulation of SMA Actuator Wire.2014 9th International Conference on Computer Engineering&Systems(Icces),2014:p.401-405.
22 .Khalil,H.K.,Noninear Systems.1996:Prentice-Hall,New Jersey.
2 .Lagoudas,D.C.,Shape memory alloys.Science and Business Media,LLC,2008.
3 .Bellini,A.,M.Colli,and E.Dragoni,Mechatronic design of a shape memory alloy actuator for automotive tumble flaps:a case study.IEEE Transactions on Industrial Electronics,2009.56 (7):p.2644-2656.
4 .Gradin,H.,et al.,SMA microvalves for very large gas flow control manufactured using wafer-level eutectic bonding.IEEE Transactions on Industrial Electronics,2012.59(12):p.4895-4906.
5 .Romano,R.and E.A.Tannuri,Modeling,control and experimental validation of a novel actuator based on shape memory alloys.Mechatronics,2009.19(7):p.1169-1177.
6 .Elahinia,M.H.and H.Ashrafiuon,Nonlinear control of a shape memory alloy actuated manipulator.Journal of Vibration and Acoustics-Transactions of the Asme,2002.124(4):p.566-575.
7 .Moallem,M.and V.A.Tabrizi,Tracking Control of an Antagonistic Shape Memory Alloy Actuator Pair.Ieee Transactions on Control Systems Technology,2009.17(1):p.184-190.
8 .Ianagui,A.and E.A.Tannuri,A sliding mode torque and position controller for an antagonistic SMA actuator.Mechatronics,2015.30:p.126-139.
9 .Kazuhiko Arai,S.A.,Kazuhisa Yanagisawa,Feedback Linearization for SMA(Shape Memory Alloy).proceedings of the 34th SICE Annual Conference,1995:p.1383-1386.
10 .Nikdel,N.,et al.,Using Neural Network Model Predictive Control for Controlling Shape Memory Alloy-Based Manipulator.Ieee Transactions on Industrial Electronics,2014.61 (3):p.1394-1401.
11 .Tai,N.T.and K.K.Ahn,A RBF neural network sliding mode controller for SMA actuator.International Journal of Control,Automation and Systems,2011.8(6):p.1296-1305.
12 .Jin,M.,J.Lee,and K.K.Ahn,Continuous Nonsingular Terminal Sliding-Mode Control of Shape Memory Alloy Actuators Using Time Delay Estimation.Ieee-Asme Transactions on Mechatronics,2015.20(2):p.899-909.
13 .Gilardi,G.,et al.,A shape memory alloy based tendon-driven actuation system for biomimetic artificial fingers,part II:modelling and control.Robotica,2010.28(05):p.675-687.
14 .Kha,N.B.and K.K.Ahn.Position control of shape memory alloy actuators by using self tuning fuzzy PID controller.in Industrial Electronics and Applications,2006 1ST IEEE Conference on.2006.IEEE.
15 .Ikuta,K.,M.Tsukamoto,and S.Hirose,Mathematical-Model and Experimental-Verification of Shape Memory Alloy for Designing Micro Actuator.Ieee Micro Electro Mechanical Systems,1991:p.103-108.
16 .Dutta,S.M.and F.H.Ghorbel,Differential hysteresis modeling of a shape memory alloy wire actuator.Ieee-Asme Transactions on Mechatronics,2005.10(2):p.189-197.
17 .Brailovski,V.,F.Trochu,and G.Daigneault,Temporal characteristics of shape memory linear actuators and their application to circuit breakers.Materials&Design,1996.17 (3):p.151-158.
18 .Madill,D.R.and D.Wang,Modeling and L2-stability of a shape memory alloy position control system.Ieee Transactions on Control Systems Technology,1998.6(4):p.473-481.
19 .Likhachev,A.A.,Differential Equation of Hysteresis:Application to Partial Martensitic Transformation in Shape-Memory Alloys.Le Journal de Physique IV,1995.05(C2):p.C2-465-C2-469.
20 .Barbarino,S.,et al.,Airfoil Structural Morphing Based on SMA Actuator Series:Numerical and Experimental Studies.Journal of Intelligent Material Systems and Structures,2011.22(10):p.987-1004.
21 .Abdelaal,W.G.A.and G.Nagib,Modeling and Simulation of SMA Actuator Wire.2014 9th International Conference on Computer Engineering&Systems(Icces),2014:p.401-405.
22 .Khalil,H.K.,Noninear Systems.1996:Prentice-Hall,New Jersey.