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퍼지 기반 역 Preisach 모델을 이용한 형상기억합금 구동기의 피드포워드 체어
바오 카(Bao Kha NGUYEN),안경관(Kyoung Kwan AHN) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
Shape Memory Alloy (SMA) actuators have a number of properties which make them useful for many applications in aeronautics, surgical tools, robotics and so on. The problem in control design is hysteresis effect of the SMA material. In this paper, a new control method combining the feedforward and feedback controllers is proposed to improve the control performance of the SMA actuators. In the feedforward control design, a fuzzy based inverse Preisach model is used to compensate the hysteresis nonlinearity effect. An extrema input hystory and a fuzzy inference is utilized to replace the inverse classical Preisach model. This work allows to reduce a large amount of experimental parameters and computation time of the inversion of classical Preisach model. A PID controller is used as a feedback controller to regulate the error between the desired and the system output. To demonstrate the effectiveness of the proposed controller, experimental results from real time control are presented.