Zhou Miaolei, Zhang Yannan, Ji Kun, Zhu Dong
Department of Control Science and Engineering, Jilin University, Changchun - PR China.
Department of Orthopedic Traumatology, First Hospital of Jilin University, Changchun - PR China.
J Appl Biomater Funct Mater. 2017 Jun 16;15(Suppl. 1):e31-e37. doi: 10.5301/jabfm.5000364.
Magnetically controlled shape memory alloy (MSMA) actuators take advantages of their large deformation and high controllability. However, the intricate hysteresis nonlinearity often results in low positioning accuracy and slow actuator response.
In this paper, a modified Krasnosel'skii-Pokrovskii model was adopted to describe the complicated hysteresis phenomenon in the MSMA actuators. Adaptive recursive algorithm was employed to identify the density parameters of the adopted model. Subsequently, to further eliminate the hysteresis nonlinearity and improve the positioning accuracy, the model reference adaptive control method was proposed to optimize the model and inverse model compensation.
The simulation experiments show that the model reference adaptive control adopted in the paper significantly improves the control precision of the actuators, with a maximum tracking error of 0.0072 mm.
The results prove that the model reference adaptive control method is efficient to eliminate hysteresis nonlinearity and achieves a higher positioning accuracy of the MSMA actuators.
磁控形状记忆合金（MSMA）驱动器具有大变形和高可控性的优点。然而，复杂的滞后非线性常常导致定位精度低和驱动器响应缓慢。
本文采用改进的克拉索夫斯基-波克罗夫斯基模型来描述MSMA驱动器中的复杂滞后现象。采用自适应递归算法来识别所采用模型的密度参数。随后，为了进一步消除滞后非线性并提高定位精度，提出了模型参考自适应控制方法来优化模型和逆模型补偿。
仿真实验表明，本文采用的模型参考自适应控制显著提高了驱动器的控制精度，最大跟踪误差为0.0072毫米。
结果证明，模型参考自适应控制方法能有效消除滞后非线性，实现MSMA驱动器更高的定位精度。
