9.

Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Control of Smart Structures

Topic 9

Introduction to Neural Networks and Its Application to Control of SMAs

Part 3 A New Approach to Precision Tracking Control of Shape Memory Alloy Actuators using Neural Networks and Sliding-Mode based Robust Controller

Active Control of SMA Wire - Case 1 13 12 11 10 Position (mm) 9 8 7 6 5 ____Desired Output ....Actual Controlled Output

Current Amplifier

Shape Memory Alloy Wire Actuator

Linear Bearing

Bia Spring LVDT Position Sensor

4 3 0 50 100 Time (sec) 150 200

Dept. of Mechanical Engineering

Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

OUTLINE
1. 2. 3. 4. 5. EXPERIMENTAL SETUP MODELING SMA WIRE HYSTERESIS USING NEURAL NETWORKS CONTROL SYSTEM DESIGN EXPERIMENTAL RESULTS CONCLUSIONS

Dept. of Mechanical Engineering

Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

1. EXPERIMENTAL SETUP
The Single Wire Test Stand
Nickel-Titanium SMA wire (30.48 cm in length and 0.381 mm in diameter). dSPACE Data Acquisition and Real Time Control system

Current Amplifier

Shape Memory Alloy Wire Actuator

Linear Bearing

Bia Spring LVDT Position Sensor

Dept. of Mechanical Engineering

Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

PRELIMINARY TEST
Dotted line: A pplied voltage (V ) 4 3

Input signal Displacement Hysteresis Loop

S olid line: A pplied c urrent (A ) 0 50 100 150 200
9 8 7 6 Dis plac em ent (m m ) 5 4 3 2 1

9 8 7 Dis plac em ent (m m ) 6 5 4 3 2 1

0
-1

-1

0.5 Current (A )

1.5

50

100 Tim e (s ec ond)

150

200

Dept. of Mechanical Engineering

Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

2. MODELING SMA WIRE HYSTERESIS USING NEURAL NETWORKS Generating Training Data from SMA Wire Actuator
Frequency = 1/60 Hz Applied Voltage = 0.1 to 4.0 volts (sinusoidal)
Applied Voltage and Current - Training Signal 4 .....Voltage 3.5 Voltage (volt) and Current (amp) 3 2.5 2 1.5 1 0.5 0 _____Current

50

100

150 Tim e (sec)

200

250

300

Dept. of Mechanical Engineering

Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Training Data - Displacement

The SMA Wire hysteresis

Displacement v/s Voltage 14

Dis plac em ent - Training S ignal 14

12
12

10 Displacement (mm)
10 Displacement (mm)

Cooling

2
0 50 100 150 Tim e (s ec ) 200 250 300

Heating
0 0.5 1 1.5 2 2.5 Voltage (volt) 3 3.5 4

Dept. of Mechanical Engineering

Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Neural Network Model of SMA Wire

Plant Model Network Structure Training Technique - Back Propagation Learning

Plant Plant (SMA (SMA Wire) Wire)

Actual Displacement

Tag Voltage

Plant Plant Model Model (Neural (Neural Network) Network)

Displacement

Error

Training the Plant Model

Dept. of Mechanical Engineering

Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Plant Model Output 14 ____Experimental Data ....Neural Network Output

12

10 Displacement (mm)

0.5

1.5

2 Time (sec)

2.5

3.5

Training RMS error = 0.6094 mm

Dept. of Mechanical Engineering Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Inverse Modeling of SMA Wire using Neural Network

Inverse Model Network Structure Training Technique - Back Propagation Learning

Voltage

Plant (SMA wire)

Displacement

Voltage

Tag

Inverse Model (NN) Training the Inverse Model

error

Dept. of Mechanical Engineering

Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

The Inverse Model

Inverse Model Results 4 3.5 3 2.5 2 1.5 1 0.5 0 ____Experimental Data ....Neural Network Output

Voltage (volt)

6 8 Displacement (mm)

10

12

14

Training RMS error = 0.0332 volts

Dept. of Mechanical Engineering Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Numerical Simulation of Active Control of SMA Wire Testing the Inverse Controller using SIMULINK
posi v o lt

6 .5 D e s ire d D is p la c e m e n t

p {1 } In 1 O u t1

y{1 }

v o u ts im

ta g

In v e rs e M o d e l

y{1 }

p {1 }

e rro r

p o s itio n P la n t M o d e l

p o u ts im M o d e lin g R e s u lt (D is p la c e m e n t)

Dept. of Mechanical Engineering

Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Numerical Simulation of Active Control of SMA Wire (contd)

Using a sinusoidal command signal
C om paring S im ulation R es ult w ith D es ired S ignal (S inus oidal) 14 ____D es ired O utput ....S im ulation O utput 12

10 Displacement (mm)

10

20

30 Tim e (s ec )

40

50

60

Training RMS error = 0.0322 mm

Dept. of Mechanical Engineering Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

3. CONTROL SYSTEM DESIGN

Define:

e = y yd

r=e  + e

Robust Controller
i = iNN + if k D r Tanh ( a r ) iNN : the neural network feed forward controller to cancel the hysteresis

k D r :

a linear feedback action functioning as a Proportional plus Derivative (PD) control. a feed-forward term

if

: if = k f ( T y  d + yd )

Tanh a r

a f

: a robust compensator and to compensate for the hysteresis to increase control accuracy and stability
Instructor: Dr. Song

Dept. of Mechanical Engineering

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

The Feed-forward Term

if = k f ( T y  d + yd )

This feed forward current is designed to provide the approximate amount of current required for the SMA actuator to follow the desired path. The actuator system with a bias spring is approximately a first order system with a time constant T, if the current is considered as the input and the displacement is considered as the output.

Dept. of Mechanical Engineering

Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

The Control Block Diagram

SMA Wire Experiment
LVDT Sensor

Amplified Command Signal

Feedback Signal

NNC
Command

Feed Forward
KD

Low Pass Filter

Robust Comp.

R Gain

Saturation
Real-Time Control System

Programmable Power Supply

Command Signal

Dept. of Mechanical Engineering

Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

4. EXPERIMENTAL RESULTS

Experimental Validation
Using the Neural Network Controller without feedback
Trac k ing C ontrol of S M A W ire us ing only N N C ontroller 14 ____D es ired O utput ....A c tual C ontrolled O utput 12

10 Position (mm)

50

100 Tim e (s ec )

150

200

RMS error = 0.7492 mm

Dept. of Mechanical Engineering Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Experimental Validation (contd)

Using the Neural Network Controller with feedback
Trac k ing C ontrol of S M A W ire us ing F eedbac k w ith N N 13 12 11 10 Position (mm) 9 8 7 6 5 4 3 0 50 100 Tim e (s ec ) 150 200 ____D es ired O utput ....A c tual C ontrolled O utput

RMS error = 0.0805 mm

Dept. of Mechanical Engineering Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Experimental Validation (contd)

Case Study - Case 1
Frequency = 1/30 Hz Stroke = 8 mm
Active Control of SMA Wire - Case 1 13 12 11 10 Position (mm) 9 8 7 6 5 4 3 0 50 100 Time (sec) 150 200 ____Desired Output ....Actual Controlled Output

RMS error = 0.064 mm

Dept. of Mechanical Engineering Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Experimental Validation (contd)

Case Study - Case 2
Frequency = 1/60 Hz Stroke = 2 mm
Active Control of SMA Wire - Case 2 12.5 ____Desired Output 12 ....Actual Controlled Output

11.5 Position (mm)

11

10.5

10

9.5

50

100

150 Time (sec)

200

250

300

RMS error = 0.1018 mm

Dept. of Mechanical Engineering Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Experimental Validation (contd)

Case Study - Case 3
Frequency = 1/90 Hz Stroke = 8 mm
13 12 11 10 Position (mm) 9 8 7 6 5 4 3 0 50 100 150 200 Time (sec) 250 300 350 ____Desired Output ....Actual Controlled Output Active Control of SMA W ire - Case 3

RMS error = 0.2747 mm

Dept. of Mechanical Engineering Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Experimental Validation (contd)

Case Study - Case 4
Frequency = 1/120 Hz Stroke = 8 mm
Active Control of SMA W ire - Case 4 13 12 11 10 Position (mm) 9 8 7 6 5 4 3 0 100 200 300 Time (sec) 400 500 600 ____Desired Output ....Actual Controlled Output

RMS error = 0.0927 mm

Dept. of Mechanical Engineering Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Experimental Validation (contd)

Case Study - Case 5
Frequency = 1/15 Hz Stroke = 4 mm
Active Control of SMA W ire - Case 5 12.5 12 11.5 11 Position (mm) 10.5 10 9.5 9 8.5 8 7.5 0 50 Time (sec) 100 150 ____Desired Output ....Actual Controlled Output

RMS error = 0.1387 mm

Dept. of Mechanical Engineering Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Experimental Validation (contd)

Case Study - Case 5
Frequency = 1/15 Hz Stroke = 4 mm
Active Control of SMA W ire - Case 5 12.5 12 11.5 11 Position (mm) 10.5 10 9.5 9 8.5 8 7.5 0 50 Time (sec) 100 150 ____Desired Output ....Actual Controlled Output

RMS error = 0.1387 mm

Dept. of Mechanical Engineering

Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

Experimental Validation (contd)

The Experimental Results Table
CASE FREQUENCY (Hz) 1/30 1/60 1/90 1/120 1/15 STROKE (mm) 8 2 8 8 4 RMS ERROR (mm) 0.064 0.1018 0.2747 0.0927 0.1387

1 2 3 4 5

Dept. of Mechanical Engineering

Instructor: Dr. Song

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9. Introduction to Neural Networks and Its Application to Control of SMAs

Part 3

5. CONCLUSIONS
An approach using neural networks and based on slidingmode robust controller is developed for tracking control of a SMA wire actuator. Experiments were conducted and successfully demonstrated that shape memory alloy actuators with the proposed control design can follow the reference command.

Dept. of Mechanical Engineering

Instructor: Dr. Song

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