Construction, modeling, and control of a three‐beam prototype using interactive fiber rubber composites

Author:

Acevedo‐Velazquez Aline Iobana1ORCID,Keshtkar Najmeh1,Mersch Johannes2,Katzer Konrad34,Cherif Chokri5,Zimmermann Martina34,Gerlach Gerald2,Röbenack Klaus1ORCID

Affiliation:

1. Institute of Control Theory Faculty of Electrical and Computer Engineering TUD Dresden University of Technology Dresden Germany

2. Institute of Solid‐State Electronics Faculty of Electrical and Computer Engineering TUD Dresden University of Technology Dresden Germany

3. Fraunhofer Institute for Material and Beam Technology IWS Dresden Germany

4. Institute for Material Science Faculty of Mechanical Engineering TUD Dresden University of Technology Dresden Germany

5. Institute of Textile Machinery and High Performance Material Technology Faculty of Mechanical Engineering TUD Dresden University of Technology Dresden Germany

Abstract

AbstractIn this contribution, we discuss the construction, modeling, and control of a three‐beam prototype that utilizes interactive fiber rubber composites integrated with shape memory alloys (SMAs) as actuators. These actuators are integrated into a textile layer and covered with an elastomer layer, providing flexibility and protection to the prototype. A mathematical model was developed to describe the behavior of the prototype, employing system identification techniques. However, precise position control of systems actuated by SMAs is challenging due to their inherent nonlinearities and hysteretic behavior. To tackle this challenge, a proportional‐integral (PI) controller was designed based on robust stability conditions. The effectiveness of the designed PI controller was validated through both numerical simulations and real experiments.

Funder

Deutsche Forschungsgemeinschaft

Publisher

Wiley

Subject

Electrical and Electronic Engineering,Atomic and Molecular Physics, and Optics

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