一种改进的形状记忆合金驱动器自适应控制算法的初步研究  

Preliminary Study of an Improved Adaptive Control Algorithm for Shape Memory Alloy Actuators

作　　者：罗洪艳[1] 陈义安[1] 高翾[1] 刘宁[1] 廖彦剑[1] 

机构地区：[1]重庆大学生物工程学院,重庆400030

出　　处：《材料导报》2012年第8期142-146,共5页Materials Reports

基　　金：国家自然科学基金(30900323);重庆市科技攻关重点项目(CSTC2009AB5219)

摘　　要：针对形状记忆合金驱动器的非线性迟滞特性,提出了一种改进的自适应控制算法。该算法以MKP逆模型为前馈补偿器,通过选择性自适应律调整模型参数,从而实现动态磁滞补偿,以达到实时准确控制。采用仿真实验对其性能进行了初步验证。结果表明,该算法具有收敛速度快、运算负荷小、抗噪能力强等优点,适合于实时控制应用。According to nonlinear hysteresis characteristics of shape memory alloy actuators, an improved adaptive control scheme was proposed, which involves the use of the inverse MKP hysteresis model as a feed-forward compensator and the selective parameter adaptation law for updating parameters, in order to realize dynamic hysteresis compensation and accordingly accurate system control in real-time. Its performances were evaluated preliminarily through the use of computer simulations. The results indicate that it is advantageous in rapid parameter convergence, reduced computation load and strong anti-noise ability, therefore suitable for real-time control applications.

关 键 词：形状记忆合金驱动器 磁滞算子理论 自适应控制 计算机仿真 

分 类 号：TG139.6[一般工业技术—材料科学与工程]