Modeling and control analysis of an arc-shaped SMA actuator using PID, sliding and integral sliding mode controllers

Khan, Abdul Manan; Kim, Youngshik; Shin, Buhyun; Moghadam, Mahyar Hasanzadeh; Mansour, Nader A.

doi:10.1016/j.sna.2022.113523

Cited by 12 publications

(4 citation statements)

References 37 publications

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“…Considering that it is very difficult to obtain the empirical data of SMA wires, a traditional trial and error method is used to tune the PID controller parameters. 38 According to the characteristics of each parameter, the parameters are adjusted by the steps of proportionality first, integration later, and differentiation last. Finally, the parameters of the PID controller are determined to be K p = 10, K i = 1, and K d = 0.5, respectively.…”

Section: Resultsmentioning

confidence: 99%

Robot joint module based on universal joint configuration driven by SMA wires

Wang,

Pei,

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Modular robots can adapt to different production needs and working conditions. However, the complexity of structures and the choice of driving modes limit the development of modularization. In this paper, a robot joint module with a universal joint configuration driven by shape memory alloy (SMA) wires is proposed, which has 2-DOFs. For lightweight, the main body of the module is made of polylactic acid materials. SMA wires are used as the actuator due to the advantages of large output displacement, high mass-to-energy ratio, and low activation voltage. Adopting antagonistically arranged SMA wires and bias springs combination method increases the recovery speed and driving angles. A locking device is creatively proposed to avoid the influence of self-biasing spring compression. The detailed kinematic model of the module is established. A proportional integral differential controller is used to precisely control module movements, and the attitude angle sensor is used as the monitoring device. Through the maximum rotation angles and trajectory tracking movement experiments, the module is tested comprehensively, and the results show that the module has good movement characteristics and control precision. In addition, analyzing the tracking performance of the module in the time domain shows that the module has a relatively fast tracking speed. This module is beneficial to the research of configurations, actuators, and controls of modular robots.

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Section: Resultsmentioning

confidence: 99%

Robot joint module based on universal joint configuration driven by SMA wires

Wang,

Pei,

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…A crucial aspect of controller design is the parameter tuning process, as the attainment of design requirements such as overshoot, settling time, phase, gain margins, and robustness to parameter variations heavily depend on this process. Numerous studies in the literature have explored various parameter-tuning methods for PID controllers [ [27] , [28] , [29] , [30] ]. While these methods can yield sufficiently good parameters for controllers with acceptable performance, it has been demonstrated that their ability to identify the optimal parameters is inadequate compared to the capabilities of more advanced metaheuristic algorithms [ [31] , [32] , [33] , [34] , [35] ].…”

Section: Introductionmentioning

confidence: 99%

Disturbance rejecting PID-FF controller design of a non-ideal buck converter using an innovative snake optimizer with pattern search algorithm

Ersali,

Hekimoglu,

Yilmaz

et al. 2024

Heliyon

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“…In the past few decades, extensive research has been conducted on some types of positioning systems derived from SMA technology. Khan et al [11] introduced a model-based sliding and PID control approach based on a new model using the NARX method for an arc-shaped SMA actuator. Han et al [12] proposed an actuating mechanism composed of two sets of SMA actuators to control the end-point position of an SMA single-link robotic arm and provide required movement.…”

Section: Introductionmentioning

confidence: 99%

Mathematical modelling and experimental study of a novel planar micro-positioning stage using shape memory alloy actuators

Rahbari,

Fathi,

Dardel

2023

Smart Mater. Struct.

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The application of smart materials as actuators in precise positioning systems has witnessed significant growth in recent years. However, the use of Shape Memory Alloy Materials (SMAs) in this context is hindered by their slow response and complex nonlinear behaviour. To overcome these limitations, this paper introduces a novel approach that incorporates two opposite SMA actuators into a flexure hinge type micro-positioning stage, aiming to enhance the system speed. A semi-analytical modelling approach is employed to model the nonlinear behaviour of the SMA actuator. Using the available material models for SMA materials and the nonlinear curved beam theory, the governing equations of the proposed SMA actuator are derived and the resulted partial differential equations are reduced to an algebraic equation based on the Galerkin method. The resulting equations are then solved using the return map method. To validate the accuracy and effectiveness of the proposed model, an experimental setup is constructed. The experimental results demonstrate the model ability to accurately predict the behaviour of the system. Additionally, the developed model allows for the extraction of stress and strain profiles of the SMA actuators for designing the actuator. The study highlights the potential of integrating the proposed model with robust control methods for future works, aiming to effectively control micro-positioning systems and further enhance their performance.

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Modeling and control analysis of an arc-shaped SMA actuator using PID, sliding and integral sliding mode controllers

Cited by 12 publications

References 37 publications

Robot joint module based on universal joint configuration driven by SMA wires

Robot joint module based on universal joint configuration driven by SMA wires

Disturbance rejecting PID-FF controller design of a non-ideal buck converter using an innovative snake optimizer with pattern search algorithm

Mathematical modelling and experimental study of a novel planar micro-positioning stage using shape memory alloy actuators

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