内嵌式形状记忆合金电机的控制研究

STUDY ON CONTROL OF EMBEDDED SMA ACTUATOR

提出了一种新型结构形式的形状记忆合金电机(SMAA)-内嵌式SMAA(ESMAA)。该电机将U形回复SMA丝嵌入弹性硅胶棒内,通过温控方式实现电机的往复可逆弯曲运动,对外稳定输出力和位移。文中研究了电机的运行机理,实现了基于SMA电阻反馈的P+和PI+控制策略探讨、仿真和实验研究。

The paper presents a new type shape memory alloy actuator (SMAA)-embedded SMAA (ESMAA).The actuator consists of an elastic rod with embedded U-shape recovering SMA wire. Through recoverable temperature circle, the actuator could output force and displacement steadily. The deflection theory is also established. Besides, with position detection and SMA's resistance feedback P^+and PI^+ control strategies are investigated theoretically and experimentally.