A precise positioning actuator based on feedback-controlled magnetic shape memory alloys |
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| Authors: | Leonardo Riccardi David Naso Hartmut Janocha Biagio Turchiano |
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| Affiliation: | 1. Department of Electronics and Electrical Science (DEE), Politecnico di Bari, Via E. Orabona 4, 70126 Bari, Italy;2. Laboratory of Process Automation (LPA), Universität des Saarlandes, Campus A5.1, D-66123 Saarbrücken, Germany;1. Department of Mechanical Engineering, Vrije Universiteit Brussel (VUB), B-1050 Brussels, Belgium;2. Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), 16163 Genova, GE, Italy;3. Department of Mechanical Engineering, the University of Tulsa, Tulsa, OK 74104, USA;4. Bioengineering and Robotics Research Center, Centro E. Piaggio, Universita di Pisa, 56112 Pisa, PI, Italy;1. Université de Toulouse, ICA/ISAE, Toulouse 31055, France;2. Civil Aviation University of China, College of Aeronautical Engineering, Tianjin 300300, China;3. Université de Toulouse, ISAE/DMIA, Toulouse 31055, France;4. Université de Toulouse, ICA/INSA-Toulouse, Toulouse 31077, France;1. School of Aerospace, Mechanical and Manufacturing Engineering, RMIT University, Melbourne 3083, Australia;2. Institute of Product Design and Manufacturing, Universiti Kuala Lumpur, Kuala Lumpur, Malaysia;3. CSIRO Process Science and Engineering, Private Bag 33, Clayton South MDC, Victoria 3169, Australia |
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| Abstract: | This paper describes a precise positioning system based on magnetic shape memory alloys (MSMAs). This new type of material shows an interesting potential in the area of mechatronics due to its outstanding magnetically-induced strain, which is significantly larger than the one exhibited by other common active materials such as piezoelectric ceramics. However, MSMAs still have not found their way into industrial applications mainly due to their high hysteretic behavior and the strong sensitivity to temperature changes. The aim of this paper is to present the main challenges of using MSMAs for precise positioning systems by means of a simple yet effective experimental prototype. In particular, this paper examines the problem of effectively controlling the device in closed-loop. The performance of an adaptive hysteresis compensator based on the Preisach-like Krasnosel’skii–Pokrovskii model is analyzed and evaluated in the presence of temperature changes. Experiments confirm that the undesirable effects of temperature on the precision of the device can be partially addressed with an adaptive model-based algorithm devised to cope with time-varying nonlinearities. |
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