新型内嵌式SMA电机的非线性模型  

NONLINEAR MODEL FOR NOVEL EMBEDDED SMA ACTUATORS

作　　者：杨凯[1] 辜承林[1] 严新荣[2] 

机构地区：[1]华中科技大学,湖北省武汉市430074 [2]中国电机工程学会,北京市宣武区100761

出　　处：《中国电机工程学报》2005年第13期109-112,共4页Proceedings of the CSEE

基　　金：湖北省自然科学基金项目(2004ABA107);中国博士后科学基金项目(20040350194)。

摘　　要：新型内嵌式形状记忆合金电机具有结构简单、控制灵活、功率密度大等优点,在轻型机器人及小型化系统中具有独特的技术优势。然而,因为形状记忆效应的本质特性,内嵌式SMA电机为非线性装置,其动态过程中的严重迟滞效应给精确建模带来困难。因此,该文构建了能够描述次级迟滞环的数学模型,奠定仿真与控制基础。该模型通过两个指数方程分别计算加热和冷却条件下SMA的马氏体份数,进而通过连续、共初始与共极限约束实时调整马氏体份数系数,研究电机的迟滞现象。PI控制的阶跃响应实验与仿真结果验证了模型的有效性和准确性。The simple, light and high power density embedded SMA actuator holds much promise for the future of lightweight robotics and miniaturization. However, due to the nature of shape memory effect, embedded SMA actuators are inherently non-linear devices exhibiting significant hysteresis, which has plagued attempts to arrive at realistic, practical, mathematical models of the actuator dynamics. So, this paper arrives at a model which can be used both for simulation and control system analysis of embedded SMA actuators. The model can calculate martensite fraction using two exponential equations. One for heating and the other for cooling. By making use of continuity, common origin and common limit conditions and adjusting martensite fraction coefficients appropriately, the model can adequately account for the presence of minor hysteresis loops. Finally, the experimental and simulated results of step response using PI control prove the non-linear model.

关 键 词：内嵌式形状记忆合金电机 马氏体份数 次级迟滞环 

分 类 号：TM34[电气工程—电机]