Tracking control of shape-memory-alloy actuators based on self-sensing feedback and inverse hysteresis compensation.

摘要: Shape memory alloys (SMAs) offer a high power-to-weight ratio, large recovery strain, and low driving voltages, have thus attracted considerable research attention. The difficulty of controlling SMA actuators arises from their highly nonlinear hysteresis temperature dependence. This paper describes combination self-sensing model-based control, where the model includes both major minor loops as well thermodynamics effects. algorithm uses only power width modulation (PWM) signal requires no heavy equipment. method can achieve high-accuracy servo control is especially suitable for miniaturized applications.