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An Operator-based Nonlinear Vibration Control System Using a Flexible Arm with Shape Memory Alloy

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Abstract

In the past, arms used in the fields of industry and robotics have been designed not to vibrate by increasing their mass and stiffness. The weight of arms has tended to be reduced to improve speed of operation, and decrease the cost of their production. Since the weight saving makes the arms lose their stiffness and therefore vibrate more easily, the vibration suppression control is needed for realizing the above purpose. Incidentally, the use of various smart materials in actuators has grown. In particular, a shape memory alloy (SMA) is applied widely and has several advantages: light weight, large displacement by temperature change, and large force to mass ratio. However, the SMA actuators possess hysteresis nonlinearity between their own temperature and displacement obtained by the temperature. The hysteretic behavior of the SMA actuators affects their control performance. In previous research, an operator-based control system including a hysteresis compensator has been proposed. The vibration of a flexible arm is dealt with as the controlled object; one end of the arm is clamped and the other end is free. The effectiveness of the hysteresis compensator has been confirmed by simulations and experiments. Nevertheless, the feedback signal of the previous designed system has increased exponentially. It is difficult to use the system in the long-term because of the phenomenon. Additionally, the SMA actuator generates and radiates heat because electric current passing through the SMA actuator provides heat, and strain on the SMA actuator is generated. With long-time use of the SMA actuator, the environmental temperature around the SMA actuator varies through radiation of the heat. There exists a risk that the ambient temperature change dealt with as disturbance affects the temperature and strain of the SMA actuator. In this research, a design method of the operator-based control system is proposed considering the long-term use of the system. In the method, the hysteresis characteristics of the SMA actuator and the temperature change around the actuator are considered. The effectiveness of the proposed method is verified by simulations and experiments.

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Authors and Affiliations

  1. Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, Tokyo, 184-0012, Japan

    Hiroki Matsumori, Ming-Cong Deng & Yuichi Noge

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  1. Hiroki Matsumori
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  2. Ming-Cong Deng
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  3. Yuichi Noge
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Correspondence to Hiroki Matsumori.

Additional information

Hiroki Matsumori received the B. Sc. degree in applied electrical and electronic engineering from Tokyo University of Agriculture and Technology, Japan in 2014. He is currently a master student in electrical engineering, the Graduate School of Engineering of Tokyo University of Agriculture and Technology, Japan.

His research interest is nonlinear control system design.

Ming-Cong Deng received the Ph. D. degree in systems science from Kumamoto University, Japan in 1997. From 1997 to 2000, he was at Kumamoto University, Japan as an assistant professor. From 2000 to 2001, he was at the University of Exeter, UK, and then spent one year at Communication Science Laboratories, Nippon Telegraph and Telephone Corporation (NTT), Japan. From 2002 to 2010, he worked at Okayama University, Japan where he was an assistant professor and then an associate professor. He is currently a professor of Tokyo University of Agriculture and Technology, Japan.

His research interests include nonlinear system modelling, control and fault detection, strong stability-based control, and robust parallel compensation.

Yuichi Noge received the M. Sc. and Ph. D. degrees in electrical and electronic systems engineering from Nagaoka University of Technology, Japan in 2010 and 2014, respectively. From 2014 to 2017, he was with Tokyo Metropolitan College of Industrial Technology, Japan as assistant professor. Since 2017, he has been with Tokyo University of Agriculture and Technology, Japan as assistant professor.

His research interests include multilevel power converters, power factor correction techniques and high speed digital controllers.

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Matsumori, H., Deng, MC. & Noge, Y. An Operator-based Nonlinear Vibration Control System Using a Flexible Arm with Shape Memory Alloy. Int. J. Autom. Comput. 17, 139–150 (2020). https://doi.org/10.1007/s11633-018-1149-4

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  • DOI: https://doi.org/10.1007/s11633-018-1149-4

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