Smart Structures and Systems

  • 제14권4호
  • /
  • Pages.643-658
  • /
  • 2014
  • /
  • 1738-1584(pISSN)
  • /
  • 1738-1991(eISSN)
테크노프레스 (Techno-Press)
권호 표지
DOI QR코드

DOI QR Code

Servo control of an under actuated system using antagonistic shape memory alloy

  • Sunjai Nakshatharan, S. (Department of Instrumentation and Control Engineering, National Institute of Technology) ;
  • Dhanalakshmi, K. (Department of Instrumentation and Control Engineering, National Institute of Technology) ;
  • Josephine Selvarani Ruth, D. (Department of Instrumentation and Control Engineering, National Institute of Technology)
  • 투고 : 2013.06.23
  • 심사 : 2013.10.29
  • 발행 : 2014.10.25
⟨ 이전 논문 다음 논문 ⟩

초록

This paper presents the design, modelling and, simulation and experimental results of a shape memory alloy (SMA) actuator based critical motion control application. Dynamic performance of SMA and its ability in replacing servo motor is studied for which the famous open loop unstable balancing ball and beam system direct driven by antagonistic SMA is designed and developed. Simulation uses the mathematical model of ball and beam structure derived from the first principles and model estimated for the SMA actuator by system identification. A PID based cascade control system consisting of two loops is designed and control of ball trajectory for various target positions with settling time as control parameter is verified experimentally. The results demonstrate the performance of SMA for a complicated i.e., under actuated, highly nonlinear unstable system, and thereby it's dynamic behaviour. Control strategies bring out the effectiveness of the actuator and its possible application to much more complex applications such as in aerospace control and robotics.

키워드

참고문헌

  1. Ahn, M.S. (2012), "Morphing Wing Mechanism using an SMA wire Actuator". Int. J. Aeronaut. Space Sci., 13(1), 58-63.
  2. Brinson, L.C. (1993), "One dimensional Constitutive behaviour of shape memory alloys: Thermo mechanical derivation with non-constant material functions and redefined martensite internal variable", J. Intel. Mat. Syst. Str., 4(2), 229-242. https://doi.org/10.1177/1045389X9300400213
  3. Dhanalakshmi, K., Umapathy, M., Ezhilarasai, D. and Bandyopadhyay, B. (2011), "Design and implementation of fast output sampling feedback control for shape memory alloy actuated structures", Smart Struct. Syst., 8(4), 367-384 . https://doi.org/10.12989/sss.2011.8.4.367
  4. Donmez, B. and Ozkan, B. (2011), "Design and control of a shape memory alloy actuator for flap type aerodynamic surfaces", Proceedings of the IFAC World Congress, Italy, August.
  5. Feng, Y., Rabbath, C.A., Hong, H., Janaideh, M.A. and Su, Y.C. (2010), "Robust Control for Shape Memory Alloy Micro Actuators Based Flap Positioning System", Proceedings of the IEEE American Control Conference, Baltimore, June.
  6. Georges, T., Brailovski, V., Morellon, E., Coutu, D. and Terriault, P. (2009), "Design of shape memory alloy actuators for morphing laminar wing with flexible extrados", J. Mech. Design, 131(9), 091006. https://doi.org/10.1115/1.3160310
  7. Liang, C. and Rogers, C.A. (1990), "One-dimensional thermo mechanical constitutive relations for shape memory materials", J. Intel. Mat. Syst. Str., 1(2), 207-234. https://doi.org/10.1177/1045389X9000100205
  8. Moallem, M. and Tabrizi, V.A. (2008), "Tracking control of an antagonistic shape memory alloy actuator pair", IEEE T. Contr. Syst. T., 17(10), 184-190.
  9. Mohammad, H.E., Seigler, M., Leo, J.D. and Ahmadian, M. (2006), "Nonlinear stress-based control of a rotary SMA actuated manipulator", J. Intel. Mater. Syst. Str., 15(6), 495-508.
  10. Quanser Ball and beam workbook student version (2011)
  11. Ruth, D.J.S., Nakshatharan, S.S. and Dhanalakshmi, K. (2012), "Angular trajectory tracking using antagonistic shape memory alloy actuators", Proceedings of the IEEE International Conference on Sensing Technology, India.
  12. Ruth, D.J.S., Nakshatharan, S. S. and Dhanalakshmi, K. (2013),"Auto-adaptive control of a one-joint arm direct driven by antagonistic shape memory alloy", Int. J. Smart Sens. Intell. Syst., 6(3), 833-849.
  13. Sars. V.D., Haliyo, S. and Szewczyk. J. (2010), "A practical approach to the design and control of active endoscopes", Mechatronics, 20(10), 251-264. https://doi.org/10.1016/j.mechatronics.2009.12.001
  14. Singh, P. and Ananthasuresh, G.K.A. (2013), "Compact and compliant external pipe-crawling robot", IEEE T. Robot, 29(1), 251-260. https://doi.org/10.1109/TRO.2012.2214560
  15. Song, G., Ma, N., Li, L., Penney, N., Barr, T., Lee, H.J. and Arnold, S. (2011),"Design and control of a proof-of-concept active jet engine intake using shape memory alloy actuators", Smart Struct. Syst., 7(1), 1-30. https://doi.org/10.12989/sss.2011.7.1.001
  16. Skogestad, S. (2009), "Simple analytic rules for model reduction and PID controller tuning", J. Process Contr., 13, 291-309.
  17. Tanaka, K. (1986), "A thermo mechanical sketch of shape memory effect: One dimensional tensile behaviour", Res. Mech., 18, 251-263.
  18. Tharayil, M.L. and Alleyne, G.A.(2004), "Modeling and control for smart-meso flap aero elastic control", IEEE-ASME T. Mech., 9(1),141-149. https://doi.org/10.1109/TMECH.2004.826988
  19. Wen, Y. (2009), "Nonlinear PD regulation for ball and beam system", Int. J. Elec. Eng. Educ., 46(1), 59-73. https://doi.org/10.7227/IJEEE.46.1.5
  20. Williams, E.R., Shaw, G. and Elahinia, M. (2010), "Control of an automotive shape memory alloy mirror actuator", Mechatronics, 20(5), 527-534. https://doi.org/10.1016/j.mechatronics.2010.04.002
  21. Youssef, M.A. and Elfeki. M.A. (2012). "Seismic performance of concrete frames reinforced with super elastic shape memory alloys", Smart Struct. Syst., 9(4), 565-585.
  22. Ziegler, J.G. and Nichols, N.B. (1942), "Optimum settings for automatic controllers", Trans. ASME, 64, 759-768.
  23. Zulfatman, Z. and Rahmat, M.F. (2009), "Application of self-tuning fuzzy PID controller on industrial hydraulic actuator using system identification approach", Int. J. Smart Sensing Intell. Syst., 2(2), 246-261. https://doi.org/10.21307/ijssis-2017-349

피인용 문헌

  1. Life-cycle cost evaluation of steel structures retrofitted with steel slit damper and shape memory alloy–based hybrid damper pp.2048-4011, 2018, https://doi.org/10.1177/1369433218773487