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首页> 外文会议>Mechatronics, 2009. ICM 2009 >Comparison of position control algorithms of embedded shape memory alloy actuators
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Comparison of position control algorithms of embedded shape memory alloy actuators

机译：嵌入式形状记忆合金执行器位置控制算法的比较

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This paper presents a comparison of the algorithms for control of shape memory alloy (SMA) actuators. An adaptive airfoil is a case of smart composites which utilize embedded SMA actuators. The airfoil is deformed by the SMA actuators which are heated with electric current. The controller adjusts the electric current of the actuators to reach the desired shape of the airfoil. The aim of this study was to investigate the feasibility of proportional-integral-derivative (PID) control of embedded SMA actuators. In previous studies model-based controllers were found to be efficient but thorough comparison with PID control has not been done before. In this paper an anti-windup compensated (AWC) PI controller was compared to an experimental model-based controller and a neural network controller. The performances of the controllers were evaluated in step response tests and a set value ramp tracking. The control experiments were performed at room temperature and during the tests a fan improved cooling of the airfoil. Robustness of the controllers was determined by changing the airflow around the airfoil when the set value was kept constant. The control tests demonstrated the benefits of the AWC PI controller and that the other nonlinearities in the system are not as critical as the power limitation. This result indicates that a SMA actuator can be controlled successfully with PID if the power limiter is appropriately compensated.
机译：本文介绍了形状记忆合金（SMA）执行器控制算法的比较。自适应机翼是利用嵌入式SMA执行器的智能复合材料的一种情况。 SMA驱动器使机翼变形，SMA驱动器被电流加热。控制器调节致动器的电流以达到所需的翼型形状。这项研究的目的是研究嵌入式SMA执行器的比例积分微分（PID）控制的可行性。在以前的研究中，发现基于模型的控制器是有效的，但之前尚未与PID控制进行彻底的比较。在本文中，将抗饱和补偿（AWC）PI控制器与基于实验模型的控制器和神经网络控制器进行了比较。在阶跃响应测试和设定值斜坡跟踪中评估了控制器的性能。对照实验在室温下进行，在测试过程中，风扇改善了翼型的冷却。当设定值保持恒定时，通过改变翼型周围的气流来确定控制器的鲁棒性。控制测试证明了AWC PI控制器的优势，并且系统中的其他非线性并不像功率限制那么重要。该结果表明，如果功率限制器得到适当补偿，则可以通过PID成功控制SMA执行器。

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