形状记忆合金的反馈线性化

SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers Pub Date : 1995-07-26 DOI:10.1109/SICE.1995.526714

K. Arai, S. Aramaki, K. Yanagisawa

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引用次数: 25

摘要

形状记忆合金的滞回特性是其适合用于微机械臂作动器的问题。为了获得SMA的高可控性，采用了基于SMA连续建模的反馈线性化方法。结果表明，设计非线性反馈系统非常容易。将该控制方法应用于双连杆SMA微机械臂的控制，实现了/spl plusmn/0.5 mm的定位精度。

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Feedback linearization for SMA (shape memory alloy)

The problem of the SMA (shape memory alloy) which is appropriate actuator for micromanipulator is its hysteresis characteristic. To get a high controllability of SMA, feedback linearization method that is based on the continuous modeling of SMA was applied. As the result easily designed nonlinear feedback system was achieved. Furthermore, this control method was applied to the control of two-link SMA micromanipulator and /spl plusmn/0.5 mm positioning accuracy was achieved.

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SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers

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