The design, hysteresis modeling and control of a novel SMA-fishing-line actuator
The design, hysteresis modeling and control of a novel SMA-fishing-line actuator
复制标题
新型 SMA 钓鱼线执行器的设计、迟滞建模和控制
DOI：
10.1088/1361-665x/aa5b03
复制
发表时间：
2017-02
影响因子：
4.1
通讯作者：
Lina Hao
中科院分区：
文献类型：
--
作者：
Chaoqun Xiang;Hui Yang;Zhiyong Sun;Bangcan Xue;Lina Hao
钓鱼线可以与形状记忆合金（SMA）结合形成新型的人工肌肉驱动器，具有成本低、重量轻、柔软等特点。它们可以应用于仿生、可穿戴和康复机器人，可以降低系统重量和成本，提高功率重量比，并提供更安全的物理人机交互。然而，这些致动器具有若干缺点，例如基于钓鱼线的致动器具有低强度并且驱动复杂，并且SMA具有低百分比收缩并且具有高滞后。本文提出了一种新型的人工致动器（SMA钓鱼线）由钓鱼线和SMA缠绕在一起，然后盘绕在一起，它可以直接由电压驱动。在7.4V驱动电压下，其输出力可达2.65N，在4V驱动电压下，3 N负载的收缩率为7.53%。提出了一种新型SMA-鱼线驱动的对抗性仿生关节，基于扩展的非平行Prandtl-Ishlinskii（EUPI）模型建立了该关节的迟滞特性，确定了EUPI模型的误差率为6.3%。文中还建立了SMA钓线的焦耳热模型，所建立的模型的最大误差为0.510 mm。在此精确迟滞模型的基础上，提出了一种由PID和积分逆（I-I）补偿器组成的复合PID控制器，并通过仿真和实验将其性能与传统PID控制器进行了比较。结果表明，复合PID控制器比基本PID控制器具有更高的控制精度，应用于SMA鱼线驱动的对抗仿生关节是可行的。
Fishing line can be combined with shape memory alloy (SMA) to form novel artificial muscle actuators which have low cost, are lightweight and soft. They can be applied in bionic, wearable and rehabilitation robots, and can reduce system weight and cost, increase power-to-weight ratio and offer safer physical human-robot interaction. However, these actuators possess several disadvantages, for example fishing line based actuators possess low strength and are complex to drive, and SMA possesses a low percentage contraction and has high hysteresis. This paper presents a novel artificial actuator (known as an SMA-fishing-line) made of fishing line and SMA twisted then coiled together, which can be driven directly by an electrical voltage. Its output force can reach 2.65 N at 7.4 V drive voltage, and the percentage contraction at 4 V driven voltage with a 3 N load is 7.53%. An antagonistic bionic joint driven by the novel SMA-fishing-line actuators is presented, and based on an extended unparallel Prandtl-Ishlinskii (EUPI) model, its hysteresis behavior is established, and the error ratio of the EUPI model is determined to be 6.3%. A Joule heat model of the SMA-fishing-line is also presented, and the maximum error of the established model is 0.510 mm. Based on this accurate hysteresis model, a composite PID controller consisting of PID and an integral inverse (I-I) compensator is proposed and its performance is compared with a traditional PID controller through simulations and experimentation. These results show that the composite PID controller possesses higher control precision than basic PID, and is feasible for implementation in an SMA-fishing-line driven antagonistic bionic joint.
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影响因子：
4.8
作者：
Yangmin Li;Qingsong Xu
通讯作者：
Yangmin Li;Qingsong Xu
DOI：
10.1117/12.2219641
发表时间：
2016-04
期刊：
--
影响因子：
--
作者：
Lianjun Wu;M. J. de Andrade;Tarang Brahme;Yonas T. Tadesse;R. Baughman
通讯作者：
Lianjun Wu;M. J. de Andrade;Tarang Brahme;Yonas T. Tadesse;R. Baughman
影响因子：
3.4
作者：
Kuhnen, K
通讯作者：
Kuhnen, K
影响因子：
4.6
作者：
Pengfei Zhang;Guoqiang Li
通讯作者：
Pengfei Zhang;Guoqiang Li
DOI：
10.1109/tmech.2013.2250989
发表时间：
2014-04
期刊：
IEEE/ASME Transactions on Mechatronics
影响因子：
--
作者：
Jun Zhang;E. Merced;N. Sepúlveda;Xiaobo Tan
通讯作者：
Jun Zhang;E. Merced;N. Sepúlveda;Xiaobo Tan