Experimental comparison of classical PID and model-free control: Position control of a shape memory alloy active spring

摘要

Shape memory alloys (SMA) are being more frequently integrated into engineering applications. These materials with their shape memory effect enable the simplification of mechanisms and the reduction in size of actuators. SMA parts can easily be activated by Joule effect but their modeling and consequently their control remains difficult. It is principally due to their non-linear hysteretic thermomechanical behavior. Most of successful control strategies applied to SMA actuators are not often suitable for industrial applications: they are particularly heavy and use the Preisach model or neural networks to model the hysteretic behavior of these materials; this kind of model is difficult to identify and to use in real time. This paper deals with an application of the new framework of model-free control (MFC) of an SMA-spring based actuator. This control strategy relies on new results for fast derivative estimation of noisy signals. Their main advantages are: its simplicity and its robustness. Experimental results and comparisons with PI control are presented that demonstrate the efficiency of this new control strategy.