摘要
针对SMA材料非线性严重,仅靠SMA电阻反馈实现闭环控制,且ESMAA控制精确度不高问题,选用高精确度应变传感器,以应变为反馈量,采用PI控制策略,对ESMAA闭环位姿控制进行了理论和试验研究,研制了基于80C196KC单片机的ESMAA柔性伺服控制系统,设计制作了系统专用PWM开关电源。试验结果表明,单台ESMAA能以55o/s的速度运动到最大角度,位置误差矢径小于5mm。协调控制每台ESMAA,可实现组合式ESMAA机械手高精确度定位和柔顺抓取。
Aiming to the highly nonlinear behavior of the SMA （ shape memory alloy）, the control precision of the ESMAA（embedded SMA actuator） is not high with using only the electrical resistance feedback of the SMA. For the problem, with position detection and strain feedback, PI control strategies are investigated theoretically and experimentally. A 80C196KC singlechip-based ESMAA servo system is completed. A PWM switch power supply for the system is designed. Experimental results demonstrate that each ESMAA is able to move to the maximum angle at a speed of 55~/s, position vector is less than 5mm. With each ESMAA controlled accurately, the position control system of the ESMAA-based robot achieves precision position control and flexible grasping performance.
出处
《电机与控制学报》
EI
CSCD
北大核心
2006年第3期238-241,共4页
Electric Machines and Control
基金
国家自然科学基金(59877004)
台达基金资助项目(2004)
