Active Modeling and Control for Shape Memory Alloy Actuators
文献类型:期刊论文
作者 | Zhang DH(张道辉)3,4; Zhao XG(赵新刚)3,4; Han JD(韩建达)2; Li XG(李晓光)1,3,4; Zhang B(张弼)3,4 |
刊名 | IEEE Access |
出版日期 | 2019 |
卷号 | 7页码:162549-162558 |
ISSN号 | 2169-3536 |
关键词 | Shape memory alloy (SMA) model error active modeling active compensation control |
产权排序 | 1 |
英文摘要 | In this paper, an active modeling and control scheme is developed for Shape Memory Alloy (SMA) actuators to eliminate the negative influences caused by the uncertainties in its dynamics. First, a nonlinear SMA dynamic model based on Liang model and the empirical models is built and linearized, and all the uncertainties due to time-varying parameters, external disturbances, as well as the linearization, are considered as model error of the linearized model. Secondly, an active modeling based on Kalman filter is constructed to estimate the model error in real time, which intends to improve the model accuracy actively. Finally, an active modeling based control method is proposed to compensate the model error in order to improve control performance of SMA actuators. Experiments are conducted on a one degree-of-freedom (DOF) testbed actuated by a SMA wire. The experimental results of the active model error estimation, and the control performance with and without the active model based compensation are presented and compared to demonstrate the improvements of the proposed scheme. © 2013 IEEE. |
语种 | 英语 |
资助机构 | National Natural Science Foundation of China under Grant 61903360, Grant 61773369, and Grant U1813214. |
源URL | [http://ir.sia.cn/handle/173321/25926] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Zhang DH(张道辉) |
作者单位 | 1.School of Chemical Equipment, Shenyang University of Technology, Shenyang 110870, China 2.College of Computer and Control Engineering, Nankai University, Tianjin 300350, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
推荐引用方式 GB/T 7714 | Zhang DH,Zhao XG,Han JD,et al. Active Modeling and Control for Shape Memory Alloy Actuators[J]. IEEE Access,2019,7:162549-162558. |
APA | Zhang DH,Zhao XG,Han JD,Li XG,&Zhang B.(2019).Active Modeling and Control for Shape Memory Alloy Actuators.IEEE Access,7,162549-162558. |
MLA | Zhang DH,et al."Active Modeling and Control for Shape Memory Alloy Actuators".IEEE Access 7(2019):162549-162558. |
入库方式: OAI收割
来源:沈阳自动化研究所
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