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首页> 外文会议>2002 ASME International Mechanical Engineering Congress and Exposition , Nov 17-22, 2002, New Orleans, Louisiana >ANALYTICAL DYNAMIC MODEL AND EXPERIMENTAL ROBUST AND OPTIMAL CONTROL OF SHAPE-MEMORY-ALLOY BUNDLE ACTUATORS
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ANALYTICAL DYNAMIC MODEL AND EXPERIMENTAL ROBUST AND OPTIMAL CONTROL OF SHAPE-MEMORY-ALLOY BUNDLE ACTUATORS

机译：形状记忆合金束缚致动器的分析动力学模型和实验鲁棒及最优控制

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摘要

In this paper, the analytical dynamic model derivation and the robust and optimal position control of Shape Memory Alloy (SMA) bundle actuators using the LQR and ft techniques are presented. SMA bundle actuators, composed of multiple SMA wires placed in parallel, have been recently proposed as a means to considerably increase the lifting capabilities of SMA actuators. Robust and optimal linear controllers could provide the desired robustness in the performance of these non-linear and highly sensitive actuators combined with the simplicity of these control schemes. The novel contributions of the present research are: a) the derivation of a generic, linearized, time-invariant analytical system model for SMA Bundle actuators that is used in the design of the LQR and H_2 based controllers; b) the development of a new improved estimator in discrete-time ft optimal control design based on the Kalman Filter predictor form for use in the control of SMA bundle actuators; c) the experimental study of two control design methods using state-space models, LQR and ft Optimal Design, in discrete-time domain, using an experimental SMA bundle actuator consisting of 48 Flexinol~(TM) SMA wires and able to apply up to 100 1bs. (445 N). As demonstrated in the experiments, the designed controllers provide satisfactory results in accuracy, stability and speed.
机译：本文介绍了使用LQR和ft技术的形状记忆合金（SMA）束致动器的解析动力学模型推导以及鲁棒和最佳位置控制。最近已经提出了由多条并联的SMA线组成的SMA束致动器，作为一种显着提高SMA致动器的提升能力的方法。鲁棒和最佳的线性控制器可以为这些非线性和高度灵敏的执行器提供所需的鲁棒性，并结合这些控制方案的简单性。本研究的新颖贡献是：a）推导了用于SMA Bundle执行器的通用，线性化，时不变的分析系统模型，该模型用于基于LQR和H_2的控制器的设计； b）基于卡尔曼滤波器预测器形式的离散时间ft最优控制设计中新的改进估计器的开发，用于SMA束致动器的控制； c）在离散时间域中使用状态空间模型LQR和ft最优设计的两种控制设计方法的实验研究，使用由48条Flexinol〜（TM）SMA线组成的实验SMA束致动器，并且能够应用到100 1bs。 （445 N）。如实验所示，设计的控制器在准确性，稳定性和速度方面均提供令人满意的结果。

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