Publication: Modelado y control de sistemas no lineales de tipo SMA
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2013-12
Defense date
2014-01-31
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Abstract
El control es una área de la ingeniería, que nació del deseo de automatizar
sistemas complejos, sin ninguna intervención directa por parte del ser humano.
Para ello, utilizando el principio de realimentación, se pretende conseguir que las
variables de interés de un sistema se acerquen a un comportamiento deseado. Aunque
la gran mayoría de las aplicaciones utilizan control lineal, hay ocasiones que
se requieren de otras técnicas para conseguir resultados aceptables. Durante los
últimos años se han descubierto y desarrollado los denominados materiales inteligentes,
los cuales, presentan propiedades muy interesantes, pero por contra son
difíciles de controlar mediante las técnicas clásicas. Aunque, muchos de ellos han
limitado sus usos por esta complejidad, con las técnicas y potencia de cómputo
actual, se vuelven muy atractivos. De este modo, y con la continua mejora en prestaciones
y tamaño, muchos de ellos se convertirán en los referentes del futuro.
El objetivo de la presente tesis doctoral es proponer soluciones a varios de los
problemas de control en actuadores de tipo SMA. Debido a la elevada histéresis
que presentan, se propone una metodología para su identificacióon, ajuste e implementación sobre el bucle de control, que sobre todo, mejore las técnicas convencionales
de control lineal. Para ello, se muestran ensayos experimentales y comparativas
entre diversos métodos de control, y se resuelve uno de los problemas más
importantes de estos actuadores: la búusqueda de un estado inicial.
Las contribuciones presentadas en esta tesis han sido probadas y optimizadas,
para su funcionamiento sobre una plataforma de actuación en tiempo real. De este
modo, se facilita su aplicacióon sobre futuros desarrollos y actuadores, abriendo un
amplio abanico de posibilidades. -----------------------------------------------------------------
One of the most challenging fields of engineering is system control, which was established with the aim of automating complex systems without human interaction. Thus, by means of the feedback theory, it is intended to modify the most critical system variables to the obtain the desired behavior. Event most of the applications are linear control-based, there exist some occasions where it becomes necessary to apply other approaches for obtaining reasonable results. During the last years, a new type of elements named intelligent materials have been discovered and developed. They yield very interesting properties although they are extremely difficult to control with classical techniques. Even they have a limited number of applications due to their complexity, the actual increase in computer power make them attractive. In such a way, the continuous improvement of their size and performance have converted these intelligent materials into a future reference. The aim of this dissertation is to suggest solutions to several problems controlling SMA actuators. Due to their high hysteresis, a novel methodology for their identification, adjustment and implementation in the control loop is presented improving the conventional linear methods. Thus, several experimental results and comparisons among several control methods are presented. Furthermore, the initial state search problem in the SMA actuator has been solved. The presented contributions of this thesis have been tested and fully optimized in order to be installed in a real time actuation platform. In such a way, a new field of applications and future works is established suggesting a wide range of new possibilities.
One of the most challenging fields of engineering is system control, which was established with the aim of automating complex systems without human interaction. Thus, by means of the feedback theory, it is intended to modify the most critical system variables to the obtain the desired behavior. Event most of the applications are linear control-based, there exist some occasions where it becomes necessary to apply other approaches for obtaining reasonable results. During the last years, a new type of elements named intelligent materials have been discovered and developed. They yield very interesting properties although they are extremely difficult to control with classical techniques. Even they have a limited number of applications due to their complexity, the actual increase in computer power make them attractive. In such a way, the continuous improvement of their size and performance have converted these intelligent materials into a future reference. The aim of this dissertation is to suggest solutions to several problems controlling SMA actuators. Due to their high hysteresis, a novel methodology for their identification, adjustment and implementation in the control loop is presented improving the conventional linear methods. Thus, several experimental results and comparisons among several control methods are presented. Furthermore, the initial state search problem in the SMA actuator has been solved. The presented contributions of this thesis have been tested and fully optimized in order to be installed in a real time actuation platform. In such a way, a new field of applications and future works is established suggesting a wide range of new possibilities.
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Keywords
Control, SMA, Histéresis, Prandtl-Ishlinskii, Bouc-Wen, Evolución diferencial, HYPER