Deflection Control of SMA-actuated Beam-like Structures in Nonlinear Large Deformation Mode

Flexible structures actuated by Shape Memory Alloy (SMA) actuators have been taken attentions in various applications of many scientific/technologic fields recently, like morphing wings. However, position control of these flexible structures is a difficult task especially in the large deformation mode due to some nonlinearity in behaviors, hysteresis effects, etc. First, Shape Memory Alloy (SMA) actuators behave with sever nonlinear dynamics while performing saturated hysteresis behavior during their forward and reverse transformations. Second, flexible structure behaves nonlinear in large deflection mode and as a result becomes more sensitive to the actuator applied force. As a result of these interactions between SMA and flexible structure, effective utilization of SMA-actuated flexible structure is a very recent challenge topic. In order to overcome to these two challenging points, in this paper, hysteresis nonlinearity of SMA-actuated flexible structure is modeled by the generalized Prandtl-Ishlinskii model. Consequently, a feedforward-feedback controller is used to control the tip deflection of the beam-like SMA-actuated structure. The feedforward part of the controller is based on the inverse generalized Prandtl-Ishlinskii model while a conventional proportional-integral feedback controller is added to the feedforward control system to increase the accuracy together with decreasing the steady state error in position control process. Besides, in order to eliminate the second aforementioned challenging point of nonlinear behavior in large deflection of flexible structure, another auxiliary SMA actuator is attached to the structure. It is experimentally shown that, in comparison to the case that only one SMA actuator is attached to the structure, the proposed controller in the new architecture, including two SMA actuators, not only increases the accuracy of the position control in small deflection mode, but also the position control process can be performed with great precision in large deformation behavior of the structure. It means simply that using two SMA actuators in the control architecture proposed here performs accurate tip positioning of flexible beam structure in both small and large deflection modes.

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