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形状记忆合金驱动器的自适应滑模反步控制
Alternative TitleAdaptive backstepping sliding mode controller for a shape memory alloy actuator
李晓光1,2,3,4; 张弼1,2; 赵新刚1,2; 张道辉1,2
Department机器人学研究室
Source Publication控制理论与应用
ISSN1000-8152
2019
Pages1-10
Contribution Rank1
Funding Organization国家高技术研究发展计划(2015AA042302) ; 国家自然科学基金项目(61773369,61573340)
Keyword形状记忆合金 系统建模 参数辨识 自适应滑模反步控制
Abstract形状记忆合金(shape memory alloy,SMA)作为一种智能材料,相对于传统的驱动器具有功率重量比大、驱动电压低、质量轻、干净、无噪音等特性,被广泛应用在各领域.然而,非线性、迟滞、时变等因素影响了形状记忆合金的控制精度,限制了它的应用.为此,本文提出了自适应滑模反步控制方法,用于解决精确控制问题.文中首先搭建了实验装置,建立了形状记忆合金的机理模型;然后,采用最小二乘算法辨识了模型参数;最后,基于机理模型设计了自适应滑模反步控制器.实验结果表明,本文提出的方法具有动态响应快、跟踪精度高和抗干扰能力强的特性.
Other AbstractShape memory alloy (SMA) is a new type of intelligent material, which has been applied in plenty of fields. Compared with the traditional actuators, it has some prominent merits, such as high power-to-mass ratio, low driving voltage, light weight, clean and quiet operation. However, the nonlinearity, hysteresis and time-varying characteristics have seriously affected the control performance and limited its application. To this end, this paper presents an adaptive backstepping sliding mode control method, and considers the precise control problem of SMA actuators. Firstly, the experimental setup has been established and the physical model of a SMA actuator system has been built up. Next the model parameters have been identified by utilizing the nonlinear least-squares algorithm. Then the adaptive backstepping sliding mode controller has been designed based on the obtained mechanism model. Finally, the experimental results demonstrate that the proposed controller ensures fast dynamic response speed, low steady-state tracking error and reliable disturbance rejection ability.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24670
Collection机器人学研究室
Corresponding Author赵新刚
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院机器人与智能制造创新研究院
3.中国科学院大学
4.沈阳工业大学
Recommended Citation
GB/T 7714
李晓光,张弼,赵新刚,等. 形状记忆合金驱动器的自适应滑模反步控制[J]. 控制理论与应用,2019:1-10.
APA 李晓光,张弼,赵新刚,&张道辉.(2019).形状记忆合金驱动器的自适应滑模反步控制.控制理论与应用,1-10.
MLA 李晓光,et al."形状记忆合金驱动器的自适应滑模反步控制".控制理论与应用 (2019):1-10.
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