Auto-Adaptive Control of a One-Joint Arm Direct Driven by Antagonistic Shape Memory Alloy

Íàöèîíàëüíûé òåõíîëîãè÷åñêèé èíñòèòóò, Òèðó÷èðàïïàëëè, 620015, Èíäèÿ Ñèñòåìà «øàðèê áàëàíñèð» ïðåäñòàâëÿåò ñîáîé ñèëüíî íåëèíåéíóþ ìîäåëü, èñïîëüçóåìóþ â ñîâðåìåííîé êëàññè÷åñêîé òåîðèè àâòîìàòè÷åñêîãî ðåãóëèðîâàíèÿ. Â ðàáîòå ðàññìîòðåíû âîïðîñû óïðàâëåíèÿ ïîëîaeåíèåì øàðèêà íà áàëàíñèðå ñ èñïîëüçîâàíèåì ïðîâîëî÷íîãî ìåõàíèçìà èç ñïëàâà ñ ïàìÿòüþ ôîðìû, ñêîíñòðóèðîâàííîãî íà ïðèíöèïå ïðîòèâîäåéñòâèÿ. Ïðèâîä èç ñïëàâà ñ ïàìÿòüþ ôîðìû îáåñïå÷èâàåò íåîáõîäèìîå óñèëèå äëÿ íàêëîíà áàëàíñèðà âëåâî è âïðàâî. Äëÿ ýôôåêòèâíîãî ðåãóëèðîâàíèÿ ëþáîé ñèñòåìû íåîáõîäèìî óñòðîéñòâî ñîîòâåòñòâóþùåé êîíñòðóêöèè, ðàçðàáîòêà êîòîðîãî ÿâëÿåòñÿ íåïðîñòîé çàäà÷åé ââèäó îñîáûõ òðåáîâàíèé ê íàñòðîéêå, ðåàëèçàöèÿ êîòîðûõ íåâîçìîaeíà â òðàäèöèîííûõ ðåãóëÿòîðàõ. Öåëüþ äàííîãî èññëåäîâàíèÿ ÿâëÿåòñÿ îïòèìèçàöèÿ êîíñòðóêöèè øèðîêî èñïîëüçóåìîãî ÏÈÄ-ðåãóëÿòîðà ñ èñïîëüçîâàíèåì èíòåëëåêòóàëüíûõ ìåòîäîâ íàñòðîéêè äëÿ îáåñïå÷åíèÿ íàèëó÷øåé ïðîèçâîäèòåëüíîñòè ñèñòåìû. Íàñòðîéêà ÏÈÄ-ðåãóëÿòîðà îñóùåñòâëÿåòñÿ íà îñíîâå ãåíåòè÷åñêîãî àëãîðèòìà è îïòèìèçàöèè ìåòîäîì ðîÿ ÷àñòèö. Äàííûå ÷èñëåííûå àëãîðèòìû øèðîêî èñïîëüçóþòñÿ äëÿ ðåøåíèÿ ñëîaeíûõ èíaeåíåðíûõ çàäà÷, ñâÿçàííûõ ñ ïîâûøåíèåì ïðîèçâîäèòåëüíîñòè. Ïðîâåäåíî ñðàâíåíèå ðåçóëüòàòîâ, ïîëó-÷åííûõ ñ èñïîëüçîâàíèåì ãåíåòè÷åñêîãî àëãîðèòìà è îïòèìèçàöèè ìåòîäîì ðîÿ ÷àñòèö, ñ äàííûìè äëÿ ÏÈÄ-ðåãóëÿòîðà òðàäèöèîííîé êîíñòðóêöèè.Êëþ÷åâûå ñëîâà: ñïëàâ ñ ïàìÿòüþ ôîðìû, ñèñòåìà «øàðèê áàëàíñèð», ÏÈÄ-ðåãóëÿòîð, îïòèìèçàöèÿ, ãåíåòè÷åñêèé àëãîðèòì, îïòèìèçàöèÿ ìåòîäîì ðîÿ ÷àñòèö

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Intelligent Neural Network Control Strategy of Hydraulic System Driven by Servo Motor

2015

International Journal on Smart Sensing and Intelligent Systems

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Auto-Adaptive Control of a One-Joint Arm Direct Driven by Antagonistic Shape Memory Alloy

Cited by 4 publications

References 21 publications

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Intelligent Neural Network Control Strategy of Hydraulic System Driven by Servo Motor

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