磁性形狀記憶效應致動器分析及控制之研究

Analysis and Control of Magnetic Shape Memory Actuators

林致宏(Jhih-Hong Lin)

指導教授 ： 江茂雄 ； 陳義男

國立臺灣大學/工學院/工程科學及海洋工程學研究所/博士(2016年)

https://doi.org/10.6342/NTU201603709

摘要

磁性形狀記憶合金是近年來開始研究的新型智慧型材料，此種材料具有高達6%的形變量以及高達1000Hz的頻寬。磁性形狀記憶效應致動器乃是運用磁性形狀記憶合金做為致動的元件，透過電磁鐵控制通過磁性形狀記憶合金的磁場強度，可達到1000至2000 Hz的高頻響應。但此致動器也同時承接源於磁性形狀記憶合金的嚴重磁滯現象，此一缺點造成在控制上的不易。
本論文發展兩種磁性形狀記憶效應致動器的實驗系統，根據其功能命名為觀測型磁性形狀記憶效應致動器與應用型磁性形狀記憶效應致動器。觀測型磁性形狀記憶效應致動器著重在了解磁場對於磁性形狀記憶合金的影響，因此其特性能被觀察記錄。應用型磁性形狀記憶效應致動器則著力在工程的應用，因此其機構尺寸大大的減小以符合其應用。
在實驗上，觀測型磁性形狀記憶效應致動器測試不同大小的磁場對於磁性形狀記憶合金的影響。透過對材料的認知後，使用改良式模糊滑動模式控制設計回授控制器，達成磁性形狀記憶效應致動器的步階響應及弦波軌跡追蹤控制。而弦波軌跡追蹤控制包含不同頻率以及不同負載條件下之實驗。
應用型磁性形狀記憶效應致動器為觀測型磁性形狀記憶效應致動器的延續研究，在軌跡追蹤上，除了延續使用回授控制器，亦探討磁滯補償訊號對於致動器的影響。採用Preisach模型來描述磁滯現象，運用此一模型可以模擬致動器的磁滯現象。設計逆向Preisach模型之磁滯補償器，即可算出致動器在追蹤特定軌跡時所需的訊號，運用磁滯補償器之補償訊號可以抵消致動器產生磁滯現象。
然而，磁滯補償器為一前饋控制器，無法針對在追蹤軌跡時的誤差做出修正。因此在控制策略上，本文提出創新控制策略，結合磁滯補償器以及改良式模糊滑動模式回授控制器，測試應用型磁性形狀記憶效應致動器在不同頻率與不同振幅的弦波軌跡及不同行程的五階軌跡之追蹤表現。透過實驗的驗證，證實創新控制在軌跡追蹤上可以達到更好的追蹤效果。

關鍵字

磁性形狀記憶合金 ； 磁性形狀記憶效應致動器 ； 磁滯現象 ； 磁滯補償 ； Preisach模型 ； 逆向Preisach模型 ； 改良式模糊滑動模式控制器 ； 位置控制

並列摘要

Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 6% and frequency bandwidth up to kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation at frequencies up to from 1000 kHz to 2000 kHz by using the properties of MSM alloys. However, significant hysteresis nonlinear behavior is a serious issue for controlling the MSM actuator.
Two types of MSM actuator were developed in this study, named according to its function, such as the observation MSM actuator (the O-type MSM actuator) and the implementation MSM actuator (the I-type MSM actuator). The O-type MSM actuator was used to test the influence of magnetic field to the MSM alloys, so that the characteristics of MSM alloys can be observed. The I-type MSM actuator aims to implement the application in engineering, so the size of test rig was reduced.
In the experiments, the influence of different strength magnetic field to the MSM alloys was tested in the O-type MSM actuator. Based on the knowledge of the characteristics of MSM alloys, the feedback controller using modified fuzzy sliding mode control (MFSMC) was developed for the step response and sinusoidal trajectory in the O-type MSM actuator. Different loading and different frequency were tested in the experiments of sinusoidal trajectory.
The I-type MSM actuator was developed for continuing the research of the O-type MSM actuator. In addition to the feedback controller, the effect of hysteresis compensation to the I-type MSM actuator was also discussed for path trajectory control. Preisach model was adopted to describe the hysteresis phenomenon and model the hysteresis of MSM actuator. Based on the Preisach model, the hysteresis compensator, which is a feedforward controller, was developed in accordance with the inverse Preisach model to compensate the hysteresis nonlinearity of MSM actuator.
However, hysteresis compensator is a feedforward control and is not able to consider the tracking error. In this study, the novel path tracking controller that combines the hysteresis compensator and the path feedback controller MFSMC was proposed. Different amplitudes and frequencies of sinusoidal wave trajectory and different stroke of 5th order trajectory were tested, compared and verified. Based on the experimental results, it has been verified that the proposed novel controller can achieve better performance in path tracking control of MSM actuator.

並列關鍵字

Magnetic shape memory alloys ； Magnetic shape memory actuator ； Hysteresis phenomenon ； Hysteresis compensation ； Preisach model ； Inverse Preisach model ； Modified fuzzy sliding mode control ； path tracking control

參考文獻

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