| 基于单片机的ESMAA伺服控制系统 |
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| 引用本文： | 杨凯,辜承林,史铁林,马志云.基于单片机的ESMAA伺服控制系统[J].华中科技大学学报(自然科学版),2004,32(4):16-18. |
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| 作者姓名： | 杨凯 辜承林 史铁林 马志云 |
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| 作者单位： | 华中科技大学电气与电子工程学院,湖北,武汉,430074 |
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| 摘 要： | 介绍了一种新型SMA驱动器。该驱动器实际上是偏心内嵌有单程SMA丝的弹性硅胶棒。它集成了驱动单元和执行单元的功能，特别适于作为小型和微型机器人系统中的致动元件。研制了基于80C196KC单片机的弯曲型ESMAA柔性伺服控制系统，实现了基于SMA电阻反馈的PI^ 控制策略探讨和实验研究。
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| 关 键 词： | 记忆合金 弹性棒 驱动器 控制 |
| 文章编号： | 1671-4512(2004)04-0016-03 |
| 修稿时间： | 2003年9月11日 |
The application of SMA actuator to robot |
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| Yang Kai Gu Chenglin Shi Tielin Ma Zhiyun Dr., College of Electical and Electronic Eng.,Huazhong Univ. of Sci. & Tech.,Wuhan ,China..The application of SMA actuator to robot[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2004,32(4):16-18. |
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| Authors: | Yang Kai Gu Chenglin Shi Tielin Ma Zhiyun Dr College of Electical and Electronic Eng Huazhong Univ of Sci & Tech Wuhan China |
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| Affiliation: | Yang Kai Gu Chenglin Shi Tielin Ma Zhiyun Dr., College of Electical and Electronic Eng.,Huazhong Univ. of Sci. & Tech.,Wuhan 430074,China. |
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| Abstract: | A shape memory alloy (SMA) actuator consisting of a cylindrical rod with embedded one-way SMA wire in a single off-axis was described. The actuators acting as both actuating elements and executing elements were compact enough in miniature robot system. A 80C196KC singlechip-based crooked ESMAA servo system was completed. With position detection and resistance feedback,PI+ control strategy was investigated theoretically and experimentally. |
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| Keywords: | SMA elastic rod actuator control |
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