| Traditional bionic joints usually by motor and hydraulic drive, so the drive structure iscomplex, less flexibility and efficiency, and difficult to achieve miniaturization of the drive,the drive requires a new way to solve the deficiency of traditional driving way. Because of thespecial superiority of biological muscle itself, received extensive attention of the researchersfrom all over the world, since the1960s, scholars at home and abroad based on a lot ofresearch on artificial muscle actuator, and applied to practical engineering and in life.Analyzing the characteristics of artificial muscle material, than other artificial muscle,shape memory alloy has high power/mass ratio and response of stress and strain is larger, theadvantages of the good corrosion resistance, long cycle life, and can realize the largerdeformation, so choose the shape memory alloy material as drive in this paper. Shape memoryalloy actuator can realize drive, and have the function of sensing, than the traditional drivestructure is simple, the efficiency and flexibility is relatively high. However, due to thenonlinear characteristic of the hysteresis of the shape memory alloy itself, increasing thedifficulty of controlling the shape memory alloy actuator, a shape memory alloy drivinghindered widely applied in the fields of bio-robot.Considering the current drive mode of shape memory alloy are commonly used, designedfor bionic joint slant lift shape memory alloy actuator, based on the constitutive relationmodel of Liang-Rogers, thermal dynamic modeling was carried out on the drive. Based onthe nonlinear hysteresis characteristics of shape memory alloy actuator, Design of fuzzyadaptive setting PID control as the drive controller, In the Matlab/Simulink environment,Respectively using fuzzy adaptive PID control algorithm and setting the PID controlalgorithm for shape memory alloy actuator performance simulation, to provide a theoreticalbasis for more accurate control of shape memory alloy actuator. |
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