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首页> 外文期刊>Mechanical systems and signal processing >Shape memory alloy wire for self-sensing servo actuation
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Shape memory alloy wire for self-sensing servo actuation

机译：用于自感应伺服致动的形状记忆合金线

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This paper reports on the development of a straightforward approach to realise self-sensing shape memory alloy (SMA) wire actuated control. A differential electrical resistance measurement circuit (the sensorless signal conditioning (SSC) circuit) is designed; this sensing signal is directly used as the feedback for control. Antagonistic SMA wire actuators designed for servo actuation is realized in self-sensing actuation (SSA) mode for direct control with the differential electrical resistance feedback. The self-sensing scheme is established on a 1-DOF manipulator with the discrete time sliding mode controls which demonstrates good control performance, whatever be the disturbance and loading conditions. The uniqueness of this work is the design of the generic electronic SSC circuit for SMA actuated system, for measurement and control. With a concern to the implementation of self-sensing technique in SMA, this scheme retains the systematic control architecture by using the sensing signal (self-sensed, electrical resistance corresponding to the system position) for feedback, without requiring any processing as that of the methods adopted and reported previously for SSA techniques of SMA.
机译：本文报告了一种实现自感形状记忆合金（SMA）线致动控制的简单方法的开发。设计了差分电阻测量电路（无传感器信号调节（SSC）电路）；该感应信号直接用作控制的反馈。专为伺服驱动而设计的拮抗SMA导线执行器以自感应驱动（SSA）模式实现，可通过差分电阻反馈直接控制。该自感测方案是在具有离散时间滑模控制的1自由度机械手上建立的，无论扰动和负载条件如何，该控制系统都具有良好的控制性能。这项工作的独特之处在于用于SMA驱动系统的通用电子SSC电路的设计，用于测量和控制。考虑到SMA中的自感应技术的实现，该方案通过使用感应信号（自感应，对应于系统位置的电阻）进行反馈来保留系统控制架构，而无需像SMA的SSA技术先前采用和报告的方法。

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