SMA弹簧集群驱动控制与动态特性研究

Study on Driving Control and Dynamic Behaviour of SMA Springs Array

研究了SMA弹簧集群的驱动控制与动态特性。在分析生物骨骼肌微观结构特性的基础上,建立了3行5列的阵列结构SMA弹簧集群及驱动控制实验平台。基于数理统计理论,建立了SMA弹簧集群驱动开关控制方法,利用ADAMS软件对SMA致动器集群的位移和力特性进行了仿真分析。设计了基于PLC的集群控制硬件平台,利用组态王软件建立了集群控制图形用户界面,给出了SMA弹簧集群的激活控制法则,获得了SMA弹簧集群的张力时间历程,在此基础上研究了不同的SMA弹簧激活组合对输出力特性的影响。实验表明,SMA致动器集群存在严重的耦合特性。最后讨论了致动器集群输出力的振荡特性及振荡消除方法。

This paper focused on control strategy and dynamic behaviour of a SMA springs array.The bionics structure of SMA springs array with 3rows and 5columns was firstly constructed,which was based on the analysis of biological microstructure of skeletal muscle.Then,an on-off control strategy for the SMA springs array was presented using mathematical statistical theory.The simulation results of the displacement and force characteristics of the array were provided based on ADAMS.Hardware control system and graphic use interface were developed,which was based on PLC and kingview software respectively.Scheme for control the activation of the SMA springs array was made,and the time histories of stretching force were got to understand influences of amount and location of the activated SMA springs.Experimental results indicate that there exists serious coupling phenomenon.Finally,the paper discussed the stretching force oscillation of the SMA spring array and its estimation method.