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。
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.
出处
《传感器与微系统》
CSCD
北大核心
2007年第2期28-30,共3页
Transducer and Microsystem Technologies
