偏置式SMA驱动器建模及自抗扰控制研究  

Modeling and Active Disturbance Rejection Control of Bias SMA Actuator

作　　者：闵旭 MIN Xu(School of Mechanotronics and Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074,China)

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《机械研究与应用》2023年第2期16-21,25,共7页Mechanical Research & Application

摘　　要：针对形状记忆合金的迟滞和非线性问题,提出一种偏置式SMA驱动器的自抗扰精确控制方法。首先基于Brinson一维SMA本构模型和改进Brinson相变模型,在MATLAB/Simulink中建立偏置式SMA驱动器的数学模型,利用微分形式的相变方程建立驱动器系统的状态空间方程,得到驱动器系统的阶次和输入增益。然后采用自抗扰控制器(ADRC),通过扩张观测器(ESO)来实时估计和补偿驱动器系统的内扰和外扰,实现系统的精确控制。最后获得了三种输入信号的系统响应,并与PI控制策略相应结果进行对比分析。研究结果表明,在合理的控制器带宽条件下,ADRC控制几乎没有超调量,在追踪低频余弦信号时响应速度和跟踪精确度明显优于PI控制;在抗扰动模拟中,ADRC控制达到新的稳态时间明显小于PI控制,鲁棒性较强,验证了方法的有效性,可为SMA智能结构的设计和控制提供参考。Aiming at the hysteresis and nonlinearity of shape memory alloy(SMA),an accurate control method of active disturbance rejection control for bias SMA actuator is proposed.Based on the Brinson one-dimensional SMA constitutive model and the improved Brinson phase transition model,the mathematical model of the bias SMA actuator is established in MATLAB/Simulink,and the state space equation of the actuator system is established by using the differential phase transition equation to obtain the order and input gain of the actuator system.The active disturbance rejection controller(ADRC)is used to estimate and compensate the internal and external disturbances of the actuator system in real time through the extended state observer(ESO)so as to achieve accurate control of the system.The system responses of three input signals are obtained and compared with the corresponding results of PI control strategy.The results show that ADRC control has almost no overshoot under the condition of reasonable controller bandwidth,and its response speed and tracking accuracy are obviously superior to those of PI control strategy when tracking low frequency cosine signals.In the anti-disturbance simulation,the time of ADRC control reaching the new steady state is obviously less than that of PI control strategy,and the robustness is strong,which verifies the effectiveness of the method;and it can provide a reference for design and control of the SMA intelligent structures.

关 键 词：形状记忆合金 驱动器 自抗扰控制器 位移控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]