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Time delay control of a shape memory alloy actuator

机译：形状记忆合金执行器的延时控制

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Shape memory alloy (SMA) actuators have attractive advantages such as high power to volume ratio. However, they also have hard nonlinearities including backlash-like hysteresis and saturation. These nonlinearities result in steady-state errors and limit cycle problems when conventional controllers are used for trajectory control. In this paper, time delay control (TDC) is applied to SMA actuators. The TDC is a well-known robust nonlinear controller and does not require a precise mathematical plant model. The dynamics of an SMA actuator was derived based on Liang's model. This dynamics does not only describe the characteristics of SMA actuators very effectively but also helps tune the TDC gains. A control strategy for the SMA actuator was established and examined from the point of view of the influence of an anti-windup scheme and high gain tuning on the control performance. We also conducted experiments on the position control of the SMA actuator and show the results of the TDC in comparison with other control schemes.
机译：形状记忆合金（SMA）执行器具有吸引人的优势，例如高功率体积比。但是，它们也具有坚硬的非线性，包括像反冲一样的磁滞和饱和。当使用常规控制器进行轨迹控制时，这些非线性会导致稳态误差和极限循环问题。本文将时间延迟控制（TDC）应用于SMA执行器。 TDC是众所周知的鲁棒非线性控制器，不需要精确的数学工厂模型。 SMA执行器的动力学是基于Liang的模型得出的。这种动力学特性不仅非常有效地描述了SMA执行器的特性，而且还有助于调整TDC增益。建立了SMA执行器的控制策略，并从抗饱和方案和高增益调整对控制性能的影响角度进行了研究。我们还对SMA执行器的位置控制进行了实验，并显示了TDC与其他控制方案相比的结果。

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