偏动式形状记忆合金驱动器系统建模与仿真

Modeling and simulation of bias-type shape memory alloy actuator system

为了实现响应速度快、精度高的偏动式形状记忆合金驱动器控制系统,基于Kanaka-Liang提出的形状记忆合金材料一维本构关系建立了偏动式SMA驱动器的热动力学模型.针对形状记忆合金材料的非线性迟滞特性,结合PID控制和模糊控制各自的优点,设计了一种模糊增益自调整PID复合控制器方案,并对偏动式形状记忆合金驱动器的响应特性进行了仿真.仿真结果表明,与PID控制器和模糊控制器相比,模糊增益自调整PID复合控制器具有响应快、超调小、适应性好等优点.模糊增益自调整PID控制策略完全能满足偏动式形状记忆合金驱动器对控制精度的要求.

In order to obtain a control system of bias-type shape memory alloy （SMA） actuator with faster response speed and higher precision, a thermodynamic hysteresis model of bias-type SMA actuators based on the one-dimensional constitutive laws developed by Kanaka-Liang is presented. In allusion to the nonlinearity of inherent hysteresis of SMA, a fuzzy-tuned-PID controller is designed by combining the advantages of propor- tional-integral-derivative （PID） controller and fuzzy controller, and the simulation model of bias-type SMA ac- tuator with the fuzzy-tuned-PID controller is developed. Results of simulation show that the fuzzy-tuned-PID controller has the advantages of faster response speed, smaller overshoot and better adaptability than PID controller and fuzzy controller. The fuzzy-tuned-PID controller can satisfy the demands of bias-type SMA actuator on control accuracy.