Abstract




 
   

IJE TRANSACTIONS A: Basics Vol. 32, No. 1 (January 2019) 71-77    Article in Press

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  EXPERIMENTAL HYSTERESIS IDENTIFICATION AND MICRO-POSITION CONTROL OF A SHAPE-MEMORY-ALLOY ROD ACTUATOR
 
S. A. Mir Mohammad Sadeghi, S. F. Hoseini, A. Fathi and H. Mohammadi Daniali
 
( Received: August 03, 2018 – Accepted in Revised Form: January 03, 2019 )
 
 

Abstract    In order to exhaustively exploit the high-level capabilities of shape memory alloys (SMAs), they must be applied in control systems applications. However, because of their hysteretic inherent, dilatory response, and nonlinear behavior, scientists are thwarted in their attempt to design controllers for actuators of such kind. The current study aims at developing a micro-position control system for a novel SMA rod actuator. To do so, the hysteretic behavior of the actuator was simulated in the form of a gray-box Wiener model. Based on the experimental training dataset obtained from the actuator, the hysteresis Wiener model was trained using a PSO algorithm. Afterwards that the identified hysteresis Wiener model was validated, the authors formed a model-in-the-loop (MIL) position control system. Next, a PSO algorithm was again set to find the best controller parameters regarding some performance criteria. At the end, implemented on the fabricated prototype (the experimental setup), the designed control system shared such excellent accuracy that makes the fabricated actuator amenable to micro-positioning applications.

 

Keywords    Shape-Memory-Alloy Actuator, Wiener Model, System Identification, Position Control, PID Tuning, Particle Swarm Optimization

 

چکیده   

برای بهره‌برداری کامل از توانایی‌های سطح بالا از آلیاژهای حافظه شکل (SMAs)، آن‌ها باید در برنامه‌های کاربردی سیستم‌های کنترل اعمال شوند. با این حال، به علت پاسخ هیسترتیک، پاسخ دایمی و رفتار غیرخطی، دانشمندان در تلاش برای طراحی کنترل‌کننده‌ها برای محرک‌های چنین نوعی از بین می‌روند. مطالعه حاضر با هدف ایجاد یک سیستم کنترل موقعیت میکرو برای یک سیم پیچ جدید SMA توسعه یافت. برای انجام این کار، رفتار هیسترتی‌کننده محرک در قالب مدل وینر خاکستری جعبه شبیه‌سازی شد. بر اساس داده‌های آموزشی تجربی حاصل از محرک، مدل هیسترزیس وینر با استفاده از الگوریتم PSO آموزش داده شد. پس از آن که مدل هیسترزیس Wiener شناسایی گشت اعتبار سنجی شده، و نویسندگان یک سیستم کنترل موقعیتی مدل (in-the-loop) (MIL) را ایجاد کردند. بعد، یک الگوریتم PSO دوباره برای یافتن بهترین پارامترهای کنترل در رابطه با برخی از معیارهای عملکرد تنظیم شد. در نهایت، بر اساس نمونه اولیه ساخته شده (نصب آزمایشی)، سیستم کنترل طراحی شده، چنین دقت عالی را به وجود آورد که باعث می‌شود سازنده تولید شده بتواند به برنامه‌های موقعیت‌یابی میکرو تبدیل شود.

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