Tracking Control of Shape-Memory-Alloy Actuators Based on Self-Sensing Feedback and Inverse Hysteresis Compensation 英文参考文献.docVIP

Sensors 2010, 10, 112-127; doi:10.3390/s100100112 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Tracking Control of Shape-Memory-Alloy Actuators Based on Self-Sensing Feedback and Inverse Hysteresis Compensation Shu-Hung Liu, Tse-Shih Huang and Jia-Yush Yen * Department of Mechanical Engineering, National Taiwan University, Taipei, 10617, Taiwan E-Mails: .tw (S.H.L.); tshuang@.tw (T.S.H.) * Author to whom correspondence should be addressed; E-Mail: jyen@.tw; Tel.: +886-2 Fax: +886-2 Received: 18 November 2009; in revised form: 15 December 2009 / Accepted: 16 December 2009 / Published: 28 December 2009 Abstract: Shape memory alloys (SMAs) offer a high power-to-weight ratio, large recovery strain, and low driving voltages, and have thus attracted considerable research attention. The difficulty of controlling SMA actuators arises from their highly nonlinear hysteresis and temperature dependence. This paper describes a combination of self-sensing and model-based control, where the model includes both the major and minor hysteresis loops as well as the thermodynamics effects. The self-sensing algorithm uses only the power width modulation (PWM) signal and requires no heavy equipment. The method can achieve high-accuracy servo control and is especially suitable for miniaturized applications. Keywords: shape memory alloys; self-sensing control; hysteresis model 1. Introduction Shape memory alloys (SMAs) are metals that can recover from strains of up to 10% via stress- or temperature-induced crystalline transformation between high-temperature austenite and low-temperature martensite phases [1]. The SMA actuator is constructed from a fiber-like SMA wire designed to contract and extend like real muscles. At room temperature, an SMA wire is soft and pliable, very much like a nylon thread. However, when heated it begins to contract sha