形状记忆合金驱动器的自适应滑模反步控制

Adaptive backstepping sliding mode controller for a shape memory alloy actuator

中文关键词  形状记忆合金  系统建模  参数辨识  自适应滑模反步控制

英文关键词  shape memory alloy  system modeling  parameter identification  adaptive backstepping sliding mode control

中文摘要

      形状记忆合金（shape memory alloy,SMA)具有功率重量比大、驱动电压低、质量轻、干净、无噪音等特性,被广泛应用在各领域。然而，非线性、迟滞、时变等因素影响了形状记忆合金的控制精度。为此，本文提出了自适应滑模反步控制方法，用于解决精确控制问题。文中首先搭建了实验装置，建立了形状记忆合金的机理模型；然后，采用最小二乘算法辨识了模型参数；最后，基于机理模型设计了自适应滑模反步控制器。实验结果表明，本文提出的方法具有动态响应快、跟踪精度高和抗干扰能力强的特性。

英文摘要

      Shape memory alloy (SMA) has the prominent merits, such as high power-to-mass ratio, low driving voltage, light weight, clean and quiet operation, which has been applied in plenty of fields. However, the nonlinearity, hysteresis and time-varying characteristics have affected the control performance. To this end, this paper presents an adaptive backstepping sliding mode control method, and considers the precise control problem of SMA actuators. Firstly, the experimental setup has been established and the physical model of a SMA actuator system has been bulited up. Next the model parameters have been identified by utilizing the nonlinear least-squares algorithm. Then the adaptive backstepping sliding mode controller has been designed based on the obtained mechanism model. Finally, the experimental results demonstrate that the proposed controller ensures fast dynamic response speed, low steady-state tracking error and reliable disturbance rejection ability.