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Design of an antagonistic shape memory alloy actuator for flap type control surfaces

机译：用于襟翼型控制面的对抗性形状记忆合金致动器的设计

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This paper deals with the flap control of unmanned aerial vehicles (UAVs) using shape memory alloy (SMA) actuators in an antagonistic configuration. The use of SMA actuators has the advantage of significant weight and cost reduction over the conventional actuation of the UAV flaps by electric motors or hydraulic actuators. In antagonistic configuration, two SMA actuators are used: one to rotate the flap clockwise and the other to rotate the flap counterclockwise. In this content, mathematical modeling of strain and power dissipation of SMA wire is obtained through characterization tests. Afterwards, the model of the antagonistic flap mechanism is derived. Later, based on these models both flap angle and power dissipation of the SMA wire are controlled in two different loops employing proportional-integral type and neural network based control schemes. The angle commands are converted to power commands through the outer loop controller later, which are updated using the error in the flap angle induced because of the indirect control and external effects. In this study, power consumption of the wire is introduced as a new internal feedback variable. Constructed simulation models are run and performance specifications of the proposed control systems are investigated. Consequently, it is shown that proposed controllers perform well in terms of achieving small tracking errors.
机译：本文研究了在对抗构造中使用形状记忆合金（SMA）致动器的无人机飞行器（UAV）的襟翼控制。与通过电动机或液压致动器对UAV襟翼的常规致动相比，使用SMA致动器具有显着的重量和成本降低的优点。在对抗性配置中，使用了两个SMA执行器：一个用于顺时针旋转阀瓣，另一个用于逆时针旋转阀瓣。在此内容中，通过特性测试获得了SMA线的应变和功率耗散的数学模型。然后，得出了对抗性皮瓣机制的模型。后来，基于这些模型，采用比例积分型和基于神经网络的控制方案在两个不同的回路中控制SMA线的拍打角度和功耗。角度指令稍后通过外环控制器转换为功率指令，使用由于间接控制和外部影响引起的襟翼角度误差来更新角度指令。在这项研究中，将电线的功耗作为新的内部反馈变量引入。运行构建的仿真模型，并研究了所提出的控制系统的性能规格。因此，表明所提出的控制器在实现小的跟踪误差方面表现良好。

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