適應性模糊滑動模式控制器驅動 形狀記憶合金X-Y 平台

Adaptive Fuzzy Sliding Mode Controller for an X-Y Platform Driven by Shape Memory Alloy

黃琮文(Tsung-Wen Huang)

指導教授 ： 蕭俊祥

國立臺北科技大學/機電學院/機電整合研究所/碩士(2010年)

https://doi.org/10.6841/NTUT.2010.00276

摘要

由形狀記憶合金(Shape Memory Alloy，簡稱SMA)形成的X-Y平台，結合設計簡單、耗能少、成本低等特色。有別於一般馬達控制，利用功率大小產生相對給予的熱能，當形狀記憶合金隨著溫度升高時，由低溫的麻田散鐵相轉變為高溫的沃斯田鐵相，藉此形狀收縮來拉動滑塊，並利用光學滑鼠的光感測器測量位移量，經由數位訊號處理器運算，以梯度法線上調整模糊滑動控制器的參數達到最佳的位置控制。

關鍵字

形狀記憶合金光學滑鼠 ； 適應性 ； 模糊滑動

並列摘要

In thesis paper, an X-Y platform driven by shape memory alloys (SMA) is constructed, featuring simple mechanism design, low power consumption and low cost.Unlike servo motor control, shape memory alloy can undergo thermoelastic martensitic transformation by increasing the temperature above a certain level, hence producing pulling force to drive the platform. An optical sensor is used to track the movements of the platform, which are then sent to a digital signal processor. Adaptive fuzzy sliding mode controller, whose parameters are tuned online by the gradient descent method, is employed for optimal tracking control of the X-Y platform.

並列關鍵字

Shape Memory Alloy ； Optical Mouse ； Adaptive ； Fuzzy Sliding Mode

參考文獻

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