Angular control of differential shape-memory alloy spring actuator for underactuated dynamic system

2021 ◽  
pp. 107754632110216
Author(s):  
M Banu Sundareswari ◽  
G Then Mozhi ◽  
K Dhanalakshmi
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Fractional Order ◽  
Position Control ◽  
Sliding Mode ◽  
Control Effort ◽  
Control Laws ◽  
Integer Order ◽  
Two Degree Of Freedom ◽  
Outer Primary

This article dwells on two technical aspects, the design and implementation of an upgraded version of the differential shape-memory alloy–based revolute actuator/rotary actuating mechanism for stabilization and position control of a two-degree-of-freedom centrally hinged ball on beam system. The actuator is configured with differential and inclined placement of shape-memory alloy springs to provide bidirectional angular shift. The shape-memory alloy spring actuator occupies a smaller space and provides more extensive reformation with justifiable actuation force than an equally able shape-memory alloy wire. The cross or diagonal architecture of shape-memory alloy springs provides force amplification and reduces the actuator’s control effort. The shape-memory alloy spring–embodied actuator’s function is exemplified by the highly dynamic underactuated custom-designed ball balancing system. The ball position control is experimentally demonstrated by cascade control using the control laws that have been unattempted for shape-memory alloy actuated systems; the ball is positioned with linear (integer-order and fractional-order) proportional–integral–derivative controllers optimized with genetic algorithm and particle swarm optimization at the outer/primary loop. Angular control of the shape-memory alloy actuated beam is obtained with nonlinear (integer-order and fractional-order sliding mode control) control algorithms in the inner/secondary loop.

Robust position regulation of a shape memory alloy wire actuator

2002 ◽  
Vol 216 (3) ◽  
pp. 301-308 ◽  
Author(s):  
G Song
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Position Control ◽  
High Strain ◽  
Sliding Mode ◽  
Recovery Stress ◽  
High Recovery ◽  
Robust Controller ◽  
Alloy Wire ◽  
Position Regulation

This paper presents design and experiment results of active position control of a shape memory alloy (SMA) wire actuator using a sliding mode based robust approach. In this research, an SMA wire was chosen as an actuating element for position control owing to its high recovery stress (gt;500MPa) and tolerance to high strain (up to 5 per cent). To compensate for the inherent non-linearity associated with the SMA, a sliding mode based robust controller was designed and implemented actively to control the position of the SMA wire actuator. Experiments demonstrated the effectiveness of the robust control. For a 12 in long SMA wire actuator, the position can be controlled within 30m.

End-point position control of a single-link arm using shape memory alloy actuators

2003 ◽  
Vol 217 (8) ◽  
pp. 871-882 ◽  
Author(s):  
Y M Han ◽  
C J Park ◽  
S B Choi
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Governing Equation ◽  
Position Control ◽  
Sliding Mode ◽  
Point Position ◽  
End Point ◽  
Single Link ◽  
Point Trajectories ◽  
Sma Spring

This article presents a novel type of actuating mechanism for the end-point trajectory control of a single-link system. The actuating mechanism consists of two sets of shape memory alloy (SMA) springs to generate a desired link motion of the system. The governing equation of motion is derived using the Lagrangian equation and Jacobian matrix. The actuator dynamic of the SMA spring is then empirically identified and incorporated into the governing equation. A sliding mode controller that is robust to parameter variations such as the time constant of the SMA actuator is formulated to achieve desired end-point trajectories of the single-link system. The controller is experimentally realized and tracking control performances for various end-point position trajectories are presented. In addition, the simulated control results are compared with the measured ones in order to validate the proposed control model.

Adaptive Fuzzy Sliding-Mode Position Control of a Shape Memory Alloy Actuated System

2015 ◽  
Vol 789-790 ◽  
pp. 946-950
Author(s):  
Suwat Kuntanapreeda
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Position Control ◽  
Sliding Mode ◽  
Control Loop ◽  
Adaptive Fuzzy ◽  
Sma Actuators ◽  
Control Scheme ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

Shape memory alloy (SMA) actuators are promising for miniature applications. They accomplish the shape memorization via a temperature dependent phase transformation process. Control of SMA actuators is challenging because the actuators exhibit highly hysteresis behavior. This paper presents a fuzzy-based position control scheme for a SMA actuated mass system. The control system consists of an outer-and an inner-control loop. The inner loop controls the temperature of the SMA actuators using a PI controller, whereas the outer loop, which is affected by the hysteresis of the SMA actuators, controls the position. To deal with the hysteresis in the position control loop, an adaptive fuzzy sliding-mode control method is adopted. Experimental results illustrate the success of the proposed control scheme.

Controller Development for an Automotive Shape Memory Alloy Actuator

2007 ◽  
Author(s):  
Eric A. Williams ◽  
Mohammad Elahinia ◽  
Thomas M. Seigler
Keyword(s):  
Robust Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Real Time ◽  
Position Control ◽  
Control Performance ◽  
Control Laws ◽  
Shape Memory Alloy Actuator ◽  
Control Scheme ◽  
And Control

Shape memory alloy actuators are inherently nonlinear and require a robust control scheme to guarantee rapid tracking and sufficient position control performance. In this paper, a control scheme is developed for an automotive shape memory alloy actuator that is used to orient an external rear view mirror to match desired set-points. The formulation of appropriate models and control laws are presented. Experiments of the controller in a real-time environment are performed and results are presented.

scholarly journals Chaos Suppression of an Electrically Actuated Microresonator Based on Fractional-Order Nonsingular Fast Terminal Sliding Mode Control

2017 ◽  
Vol 2017 ◽  
pp. 1-12
Author(s):  
Jianxin Han ◽  
Qichang Zhang ◽  
Wei Wang ◽  
Gang Jin ◽  
Houjun Qi ◽  
...  
Keyword(s):  
Fractional Order ◽  
Chaotic Motion ◽  
Sliding Mode ◽  
Period Doubling ◽  
Terminal Sliding Mode ◽  
Control Laws ◽  
Switching Law ◽  
Integer Order ◽  
Chaos Suppression ◽  
Fast Terminal Sliding Mode

This paper focuses on chaos suppression strategy of a microresonator actuated by two symmetrical electrodes. Dynamic behavior of this system under the case where the origin is the only stable equilibrium is investigated first. Numerical simulations reveal that system may exhibit chaotic motion under certain excitation conditions. Then, bifurcation diagrams versus amplitude or frequency of AC excitation are drawn to grasp system dynamics nearby its natural frequency. Results show that the vibration is complex and may exhibit period-doubling bifurcation, chaotic motion, or dynamic pull-in instability. For the suppression of chaos, a novel control algorithm, based on an integer-order nonsingular fast terminal sliding mode and a fractional-order switching law, is proposed. Fractional Lyapunov Stability Theorem is used to guarantee the asymptotic stability of the system. Finally, numerical results with both fractional-order and integer-order control laws show that our proposed control law is effective in controlling chaos with system uncertainties and external disturbances.

scholarly journals Bifurcation and Chaos in Integer and Fractional Order Two-Degree-of-Freedom Shape Memory Alloy Oscillators

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Karthikeyan Rajagopal ◽  
Anitha Karthikeyan ◽  
Prakash Duraisamy ◽  
Riessom Weldegiorgis
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Fractional Order ◽  
Dynamical Behavior ◽  
Degree Of Freedom ◽  
Order Model ◽  
Bifurcation And Chaos ◽  
Fractional Order Model ◽  
Two Degree Of Freedom ◽  
Fractional Orders

A two-degree-of-freedom shape memory oscillator derived using polynomial constitutive model is investigated. Periodic, quasiperiodic, chaotic, and hyperchaotic oscillations are shown by the shape memory alloy based oscillator for selected values of the operating temperatures and excitation parameters. Bifurcation plots are derived to investigate the system behavior with change in parameters. A fractional order model of the shape memory oscillator is presented and dynamical behavior of the system with fractional orders and parameters are investigated.

scholarly journals Correction to: Accurate position control of shape memory alloy actuation using displacement feedback and self-sensing system

2021 ◽  
Author(s):  
Ermira Junita Abdullah ◽  
Josu Soriano ◽  
Iñaki Fernández de Bastida Garrido ◽  
Dayang Laila Abdul Majid
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Position Control ◽  
Sensing System ◽  
Accurate Position

scholarly journals Fractional-Order PII1/2DD1/2 Control: Theoretical Aspects and Application to a Mechatronic Axis

2021 ◽  
Vol 11 (8) ◽  
pp. 3631
Author(s):  
Luca Bruzzone ◽  
Mario Baggetta ◽  
Pietro Fanghella
Keyword(s):  
Fractional Order ◽  
Position Control ◽  
Tracking Error ◽  
Experimental Tests ◽  
Maximum Torque ◽  
Control Effort ◽  
Tuning Method ◽  
Alternative Approach ◽  
Remarkable Reduction ◽  
Distributed Order

Fractional Calculus is usually applied to control systems by means of the well-known PIlDm scheme, which adopts integral and derivative components of non-integer orders λ and µ. An alternative approach is to add equally distributed fractional-order terms to the PID scheme instead of replacing the integer-order terms (Distributed Order PID, DOPID). This work analyzes the properties of the DOPID scheme with five terms, that is the PII1/2DD1/2 (the half-integral and the half-derivative components are added to the classical PID). The frequency domain responses of the PID, PIlDm and PII1/2DD1/2 controllers are compared, then stability features of the PII1/2DD1/2 controller are discussed. A Bode plot-based tuning method for the PII1/2DD1/2 controller is proposed and then applied to the position control of a mechatronic axis. The closed-loop behaviours of PID and PII1/2DD1/2 are compared by simulation and by experimental tests. The results show that the PII1/2DD1/2 scheme with the proposed tuning criterium allows remarkable reduction in the position error with respect to the PID, with a similar control effort and maximum torque. For the considered mechatronic axis and trapezoidal speed law, the reduction in maximum tracking error is −71% and the reduction in mean tracking error is −77%, in correspondence to a limited increase in maximum torque (+5%) and in control effort (+4%).

Sign in / Sign up

Export Citation Format

Share Document