Experimental characterization and validation of model for cantilever beam platform using SMA actuator
Keywords:
Shape-memory alloys, SMA actuator, Simulation model, Experimental characterizationAbstract
Shape-memory alloys are being used and studied in different areas due to features such as feasibility, high deformation per volume ratio with shape recovery, soft and silente movements. Although these actuators present some advantages for use, its application in position control of structures has some drawbacks related to parameter characterization and, consequently, for system modeling. The lack of information for model the SMA actuator has been compensated in literature by using control algorithms such as Fuzzy controllers, RNA and Fuzzy-PID controller that requires hardware for implementation with more computational requirements. This work presents a model for a flexible cantilever beam actuated by shape-memory alloy (SMA) actuator. The SMA actuator is actived in order to control the position of the free tip of the cantilever beam. The proposed model in Simulink/Matlab is composed by mechanical and electrical sub-systems of the structure. The proposed model is validated by the comparison with the experimental results obtained from a laboratory test bench. The metric used to validate the model is Normalized Mean Squared Error (NMSE), reaching a value of 0.9981, and Normalized Root Mean Squared Error (NRMSE) of 0.9562, for a 90% duty cycle. As a result, the proposed model can be used for implementation of position closed-loop control of the structure based on conventional algorithms (PI or PID) suitable for simpler hardware presenting limited computational resources (microcontrollers).
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