Control and mechanics analysis on SMA joint actuator

WANG Hong; YAO Xiong-liang; DAI Shao-shi

doi:10.13873/j.1000-97872007.02.009

Chinese

您当前的位置：

首页 >

文章列表页 >

Control and mechanics analysis on SMA joint actuator

更新时间：2025-09-11

- Control and mechanics analysis on SMA joint actuator
- Issue 2, Pages: 28-30(2007)
- 作者机构：
  
  1. 哈尔滨工程大学船舶工程学院
  2. 哈尔滨工程大学船舶工程学院,黑龙江,哈尔滨,150001
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872007.02.009
  CLC： TP242
- Published：2007
- 稿件说明：
移动端阅览
[1]王宏,姚熊亮,戴绍仕.基于SMA的关节驱动器的力学分析及控制[J].传感器与微系统,2007(02):28-30.

WANG Hong, YAO Xiong-liang, DAI Shao-shi. Control and mechanics analysis on SMA joint actuator[J]. 2007, (2): 28-30.
[1]王宏,姚熊亮,戴绍仕.基于SMA的关节驱动器的力学分析及控制[J].传感器与微系统,2007(02):28-30. DOI： 10.13873/j.1000-97872007.02.009.

WANG Hong, YAO Xiong-liang, DAI Shao-shi. Control and mechanics analysis on SMA joint actuator[J]. 2007, (2): 28-30. DOI： 10.13873/j.1000-97872007.02.009.

摘要

分析了一种用于水下微小型仿生机器人的形状记忆合金（SMA）关节驱动器的力学特性

并通过模糊控制的方法对其进行了实验研究。结果表明:对于物理特性呈非线性、温度滞后、时变和受温度影响很大的SMA驱动器来说

采用模糊控制的方法

能够使驱动器稳定、平滑的工作

尽管产生了轻微的超调现象

但收到了令人较为满意的效果。因此

将模糊控制方法应用于SMA驱动器的控制有一定的理论意义和应用价值。

Abstract

The mechanics characteristic of a SMA joint actuator that is applied to micro biomimetic robot underwater is analyzed

and an experiment of the SMA actuator based on fuzzy control is completed.In the experiment

the physical characteristic of the SMA actuator is nonlinear

thermal hysteresis

time change and prodigious temperature effects.The SMA actuator works smoothly by applied the fuzzy control although it can bring a little over control.It is contented that the effect of the SMA actuator worked by fuzzy control.Therefore

the theory and applied value of the SMA actuator based on fuzzy control are remarkable.

关键词

Keywords

references

基于Preisach模型的迟滞系统建模与控制 [J]. 陈增强,郭纯,赵加祥,袁著祉. 控制工程 . 2006(04)

迟滞非线性系统的建模与控制 [J]. 李春涛,谭永红. 控制理论与应用 . 2005(02)

一种基于SMA的管道里蠕动机器人及其反馈控制 [J]. 王嵩,曹志奎. 传动技术 . 2005(01)

SMA驱动六足步行机关节的控制系统 [J]. 战卫侠,谭继文. 青岛建筑工程学院学报 . 2002(03)

Views

227

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Design of Buck converter fuzzy PID controller based on U model

Research progress of microsystem devices based on PZT thin film

Design of obstacle avoidance system of wheeled mobile robot based on ARM

Analysis and optimization of separation liquid path control system for circulating tumor cell

Performance analysis of permanent magnet linear motor based on fuzzy random PWM technology

Related Author

PAN Tinglong

QIAN Kun

ZHANG Yan

LIU Zhihui

SHANG Yingqi

YU Haichao

ZHANG Liping

TAN Lianzi

Related Institution

School of Internet of Things Engineering,Jiangnan University

The 49th Research Institute of China Electronics Technology Group Corporation

College of Eletronic and Electrical Engineering,Shanghai University of Engineering Science

School of Mechanical Engineering,Shanghai Jiao Tong University

School of Electrical Engineering and Automation, Henan Polytechnic University

⁰