基于Jiles Atherton模型的SMA人工肌肉驱动平台回滞特性建模研究

发布时间：2023-01-08 15:46

　　SMA（Shape Memory Alloy）actuators,a class of smart material actuators with large deformation,high strength and nanometres,have the ability to deform back to its original shape when heated or cooled.SMA actuators were used in many applications such as aerospace,medical surgical instruments and robotics and received a lot of attention in the last decades because of their unique properties.The main advantages of SMA actuators include potentially simplified construction,High strength,Easy fabrication... 

【文章页数】：62 页

【学位级别】：硕士

【文章目录】：
ABSTRACT
Chapter 1 Introduction
    1.1 Background
    1.2 History of hysteresis research in various fields
    1.3 Shape memory artificial muscle
    1.4 Nickel Titanium
    1.5 Problem Statement
    1.6 Proposed model
    1.7 Objective of this work
    1.8 Thesis Organization
Chapter 2 Shape Memory Alloy Actuators
    2.1 Actuators
    2.2 Shape memory alloy
    2.3 General Performance and Thermal Control of SMA Actuators
    2.4 Different types of SMA actuators
        2.4.1 Linear displacement actuator
        2.4.2 Angular displacement actuator
        2.4.3 Bundle SMA Actuator
    2.5 Actuators Nonlinearity
        2.5.1 Deadzone Nonlinearity
        2.5.2 Backlash Nonlinearity
        2.5.3 Hysteresis Nonlinearity
        2.5.4 Saturation Nonlinearity
        2.5.5 Friction Nonlinearity
    2.6 Hysteresis
    2.7 Artificial muscles
        2.7.1 SMA artificial muscles
    2.8 Input/output relationship in SMA actuators
Chapter 3 Modelling of SMA Actuators
    3.1 Hysteresis
        3.1.1 Types of hysteresis
        3.1.2 Hysteresis in SMA actuators
        3.1.3 Methods for modeling hysteresis in SMA actuators
    3.2 Jiles-Atherton Theory
        3.2.1 Hysteresis model of Jiles-Atherton
        3.2.2 Identification of the Jiles-Atherton model
    3.3 Description of the magnetization process
Chapter 4 Experimental Results and verification
    Overview
    4.1 Experiment Basis
    4.2 Hardware parts
    4.3 Experiment flow graph
    4.4 Circuit Block Diagram
    4.5 Experimental Block Diagram
    4.6 Experimental description
    4.7 Simulation
    4.8 General Simulation Flow graph
    4.9 Specific details of algorithm
    4.10 Experimental description
    4.11 Results comparison:
Chapter 5 Conclusion and Future work
    5.1 Conclusion
    5.2 Future work
Bibliography
攻读硕士学位期间取得的研究成果
Acknowledgement
附件


【参考文献】：
期刊论文
[1]Review:Recent advances in nonlinear control technologies for shape memory alloy actuators[J]. SREEKUMAR M.,SINGAPERUMAL M.,NAGARAJAN T.,ZOPPI M.,MOLFINO R..  Journal of Zhejiang University（Science A:An International Applied Physics ＆ Engineering Journal）. 2007(05)



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