Modeling and control of shape memory alloy actuators using Preisach model, genetic algorithm and fuzzy logic
Modeling and control of shape memory alloy actuators using Preisach model, genetic algorithm and fuzzy logic
复制标题
DOI：
10.1016/j.mechatronics.2007.10.008
复制
发表时间：
2008-04-01
期刊：
影响因子：
3.3
通讯作者：
Kha, Nguyen Bao
中科院分区：
文献类型：
--
作者：
Ahn, Kyoung Kwan;Kha, Nguyen Bao
形状记忆合金（SMA）执行器能够在加热时恢复到预定形状，在航空、手术工具、机器人等领域有许多潜在的应用。 SMA 执行器中存在的非线性磁滞效应给这些智能执行器的运动控制带来了问题。本文通过仿真和实验研究了 SMA 执行器的控制问题。在仿真中，具有几何解释的数值 Preisach 模型用于 SMA 执行器的磁滞建模。然后将该模型纳入闭环 PID 控制策略中。 PID参数的最佳值是通过使用遗传算法来确定的，以最小化期望输出位移和模拟输出之间的均方误差。然而，由于系统受到未知因素和系统周围环境变化的干扰，这些参数应用于实际SMA控制时，控制性能与仿真结果相比并不理想。提出了使用模糊逻辑进一步自动调整 PID 参数来补偿该限制。为了证明所提出的控制器的有效性，给出了实时控制实验结果。 (c) 2007 年，爱思唯尔有限公司出版。
Shape memory alloy (SMA) actuators, which have the ability to return to a predetermined shape when heated, have many potential applications in aeronautics, surgical tools, robotics and so on. Nonlinearity hysteresis effects existing in SMA actuators present a problem in the motion control of these smart actuators. This paper investigates the control problem of SMA actuators in both simulation and experiment. In the simulation, the numerical Preisach model with geometrical interpretation is used for hysteresis modeling of SMA actuators. This model is then incorporated in a closed loop PID control strategy. The optimal values of PID parameters are determined by using genetic algorithm to minimize the mean squared error between desired output displacement and simulated output. However, the control performance is not good compared with the simulation results when these parameters are applied to the real SMA control since the system is disturbed by unknown factors and changes in the surrounding environment of the system. A further automated readjustment of the PID parameters using fuzzy logic is proposed for compensating the limitation. To demonstrate the effectiveness of the proposed controller, real time control experiment results are presented. (c) 2007 Published by Elsevier Ltd.