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Predictive position and force control for shape memory alloy cylinders

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Abstract

In this paper, a linear lightweight electric cylinder constructed using shape memory alloy (SMA) is proposed. Spring SMA is used as the actuator to control the position and force of the cylinder rod. The model predictive control algorithm is investigated to compensate SMA hysteresis phenomenon and control the cylinder. In the predictive algorithm, the future output of the cylinder is computed based on the cylinder model, and the control signal is computed to minimize the error and power criterion. The cylinder model parameters are estimated by an online identification algorithm. Experimental results show that the SMA cylinder is able to precisely control position and force by using the predictive control strategy though the hysteresis effect existing in the actuator. The performance of the proposed controller is compared with that of a conventional PID controller.

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Authors and Affiliations

  1. Graduate School of Mechanical and Automotive Engineering, University of Ulsan, Ulsan, Korea

    Nguyen Trong Tai & Nguyen Bao Kha

  2. School of Mechanical and Automotive Engineering, University of Ulsan, Ulsan, Korea

    Kyoung Kwan Ahn

Authors
  1. Nguyen Trong Tai
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  2. Nguyen Bao Kha
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  3. Kyoung Kwan Ahn
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Corresponding author

Correspondence to Kyoung Kwan Ahn.

Additional information

This paper was recommended for publication in revised form by Associate Editor Hyoun Jin Kim

Nguyen Trong Tai received the B.S. and M.S. degrees from Hochiminh City University of Technology in 2005 and 2008, respectively, all in Automatic Control Engineering. He is currently studying Ph.D. Course at University of Ulsan. His research interests focus on intelligent control, modern control theory and their applications, design and control of smart actuator systems.

Kyoung Kwan Ahn received a B.S. degree in Mechanical Engineering from Seoul National University in 1990, an M. Sc. degree in Mechanical Engineering from the Korea Advanced Institute of Science and Technology (KAIST) in 1992, and a Ph.D. degree (dissertation title: “A study on the automation of outdoor tasks using 2 link electro-hydraulic manipulator”) from the Tokyo Institute of Technology in 1999, respectively. He is currently a Professor in the School of Mechanical and Automotive Engineering, University of Ulsan, Ulsan, Korea. His research interests are design and control of smart actuator using smart material, fluid power control and active damping control. He is a Member of IEEE, ASME, SICE, RSJ, JSME, KSME, KSPE, KSAE, KFPS, and JFPS.

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Tai, N.T., Kha, N.B. & Ahn, K.K. Predictive position and force control for shape memory alloy cylinders. J Mech Sci Technol 24, 1717–1728 (2010). https://doi.org/10.1007/s12206-010-0504-3

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  • DOI: https://doi.org/10.1007/s12206-010-0504-3

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