SMA弹簧集群驱动控制与动态特性研究

中国机械工程 ›› 2015, Vol. 26 ›› Issue (10): 1289-1293,1300.

SMA弹簧集群驱动控制与动态特性研究

应申舜;计时鸣;蔡东海;艾青林

浙江工业大学特种装备制造与先进加工技术教育部重点实验室，杭州，310032

出版日期:2015-05-25 发布日期:2015-05-26
基金资助:
国家自然科学基金资助项目(51275470)；浙江省自然科学基金资助项目(LY14E050009,LY12E07004)；浙江工业大学特种装备制造与先进加工技术教育部重点实验室开放基金资助项目(2011EM008)

Study on Driving Control and Dynamic Behaviour of SMA Springs Array

Ying Shenshun;Ji Shiming;Cai Donghai;Ai Qinglin

Key Laboratory of Special Purpose Equipment and Advanced Processing Technology of Ministry of Education,Zhejiang University of Technology,Hangzhou,310032

Online:2015-05-25 Published:2015-05-26
Supported by:
National Natural Science Foundation of China（No. 51275470）;Zhejiang Provincial Natural Science Foundation of China（No. LY14E050009,LY12E07004）

摘要/Abstract

摘要：

研究了SMA弹簧集群的驱动控制与动态特性。在分析生物骨骼肌微观结构特性的基础上，建立了3行5列的阵列结构SMA弹簧集群及驱动控制实验平台。基于数理统计理论，建立了SMA弹簧集群驱动开关控制方法，利用ADAMS软件对SMA致动器集群的位移和力特性进行了仿真分析。设计了基于PLC的集群控制硬件平台，利用组态王软件建立了集群控制图形用户界面，给出了SMA弹簧集群的激活控制法则，获得了SMA弹簧集群的张力时间历程，在此基础上研究了不同的SMA弹簧激活组合对输出力特性的影响。实验表明，SMA致动器集群存在严重的耦合特性。最后讨论了致动器集群输出力的振荡特性及振荡消除方法。

关键词: 致动器, 形状记忆合金, 仿生驱动控制, SMA弹簧集群

Abstract:

This paper focused on control strategy and dynamic behaviour of a SMA springs array. The bionics structure of SMA springs array with 3 rows and 5 columns was firstly constructed, which was based on the analysis of biological microstructure of skeletal muscle. Then, an on-off control strategy for the SMA springs array was presented using mathematical statistical theory. The simulation results of the displacement and force characteristics of the array were provided based on ADAMS. Hardware control system and graphic use interface were developed, which was based on PLC and kingview software respectively. Scheme for control the activation of the SMA springs array was made, and the time histories of stretching force were got to understand influences of amount and location of the activated SMA springs. Experimental results indicate that there exists serious coupling phenomenon. Finally, the paper discussed the stretching force oscillation of the SMA spring array and its estimation method.

Key words: actuator, shape memory alloy(SMA), bionic driving control, SMA springs array

中图分类号:

TB472

应申舜, 计时鸣, 蔡东海, 艾青林. SMA弹簧集群驱动控制与动态特性研究[J]. 中国机械工程, 2015, 26(10): 1289-1293,1300.

Ying Shenshun, Ji Shiming, Cai Donghai, Ai Qinglin. Study on Driving Control and Dynamic Behaviour of SMA Springs Array[J]. China Mechanical Engineering, 2015, 26(10): 1289-1293,1300.

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