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形状记忆合金手指系统的输出力自适应控制
Alternative TitleAdaptive force control of robotic finger actuated by shape memory alloy
李晓光1,2,3,4; 张弼1,2; 张道辉1,2; 赵新刚1,2; 韩建达5
Department机器人学研究室
Source Publication控制理论与应用
ISSN1000-8152
2021
Volume38Issue:1Pages:33-43
Indexed ByEI
EI Accession number20210609878564
Contribution Rank1
Funding Organization国家自然科学基金深圳资助项目(61903360,61773369,U1813214) ; 中国博士后科学基金(2019M661155, 2019M661157) ; 辽宁省博士后启动基金项目(20180540131)
Keyword形状记忆合金 迟滞非线性 扩张状态观测器 自适应控制
Abstract

形状记忆合金(shape memory alloy,SMA)是智能材料中的一种,具有功率重量比大、质量轻、无噪音等特性.作为驱动器有利于结构的小型化和轻型化.然而SMA的非线性、多映射的迟滞特性严重影响了输出力的精确控制.为此,本文提出了基于扰动补偿策略的自适应控制方法用于SMA输出力的精确控制.首先,搭建了SMA驱动的手指实验装置,建立了机理模型;其次,采用状态观测器对系统的总扰动进行了实时估计;最后,基于机理模型设计了自适应控制器,并进行了阶跃信号、正弦信号、抗负载扰动实验.实验结果表明,基于扰动补偿的自适应控制方法不需要系统精确建模,参数调节方便.在保证系统稳定和跟踪精度的同时,具有较强的鲁棒性.

Other Abstract

Shape memory alloy (SMA), one of smart materials, has the characteristics of large power-to-weight ratio, light weight, and no noise, etc. Due to the miniaturization and light weight, SMA is often used as the material of smart actuators. However, the nonlinearity, multi-value properties, i.e., hysteresis, of SMA material, will seriously affect the precise control of the output force. To this end, this paper proposes an adaptive control method, in which the hysteresis, the uncertain dynamics and external disturbance are treated as the total disturbance of the system, to achieve the precise control of SMA output force. Firstly, the finger experiment setup actuated by SMA was constructed and the mechanism model was established. Then the extended state observer was used to estimate both the states and the total disturbance of the system in real time. Finally, the adaptive controller was designed based on the mechanism model. The tracking experiment of the step signal and the sinusoidal signal were demonstrated, meanwhile, the load disturbance rejection experiment was also implemented. The experimental results show that the adaptive disturbance compensation control method does not require accurate system modeling, and the controller parameters adjustment is convenient. More interestingly, The proposed algorithm not only ensures the system stability and tracking accuracy but also guarantees the robustness.

Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27658
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.湖州师范学院求真学院
5.南开大学人工智能学院
Recommended Citation
GB/T 7714
李晓光,张弼,张道辉,等. 形状记忆合金手指系统的输出力自适应控制[J]. 控制理论与应用,2021,38(1):33-43.
APA 李晓光,张弼,张道辉,赵新刚,&韩建达.(2021).形状记忆合金手指系统的输出力自适应控制.控制理论与应用,38(1),33-43.
MLA 李晓光,et al."形状记忆合金手指系统的输出力自适应控制".控制理论与应用 38.1(2021):33-43.
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