光学精密工程2026，Vol.34Issue(6)：915-927,13.DOI:10.37188/OPE.20263406.0915
形状记忆合金执行机构的精确位移控制研究
Precision position control of shape memory alloy actuators
摘要
Abstract
To address the control difficulties caused by severe nonlinearities such as large hysteresis in shape memory alloy(SMA)actuators,a closed-loop displacement control method combining inverse hys⁃teresis feedforward compensation and sliding mode control-proportional integral derivative(SMC-PID)was proposed based on the self-sensing characteristics of SMA.First,a forward model of the actuator was established based on the working principle of SMA,and the inverse model was obtained by inverting the forward model of each module.Second,the resistance-displacement self-sensing model of the SMA actua⁃tor was established by experimental method based on the analysis of the resistance characteristics of SMA,thereby realizing displacement feedback without external sensors.Third,a composite control method com⁃bining inverse model feedforward and adaptive SMC-PID feedback was designed.The feedforward control was used to compensate for the nonlinearity and hysteresis of SMA,while the feedback control employed an adaptive SMC-PID controller with online parameter tuning to approximate the sliding mode equivalent control signal,and the stability of the system was proved.Simulation and experimental results demon⁃strate that the proposed method outperforms traditional control approaches in tracking sinusoidal com⁃mands,continuous step commands during heating contraction and natural cooling process.For step com⁃mand tracking,the settling time of step command signal tracking is no more than 17 s,and the displace⁃ment tracking error is no more than 0.2 mm.This realizes precise closed-loop displacement control of SMA actuators with strong robustness against system hysteresis and parameter uncertainties.关键词
形状记忆合金/迟滞非线性/自感知/逆补偿/自适应滑模PID控制/位移控制Key words
shape memory alloy(SMA)/hysteresis nonlinearity/self-sensing/inverse compensation/PID adaptive sliding mode control/position control分类
信息技术与安全科学引用本文复制引用
李朋,李晓林,张佼龙,张帝,郭建国..形状记忆合金执行机构的精确位移控制研究[J].光学精密工程,2026,34(6):915-927,13.基金项目
国家自然科学基金资助项目(No.52007153,No.52472419) （No.52007153,No.52472419）
陕西省自然科学基础研究计划(No.2023-JC-QN-0541) （No.2023-JC-QN-0541）
