CN103076739A - Self-feedback drive control system of double shape memory alloy wires and testing platform of drive control system - Google Patents
Self-feedback drive control system of double shape memory alloy wires and testing platform of drive control system Download PDFInfo
- Publication number
- CN103076739A CN103076739A CN2012103300441A CN201210330044A CN103076739A CN 103076739 A CN103076739 A CN 103076739A CN 2012103300441 A CN2012103300441 A CN 2012103300441A CN 201210330044 A CN201210330044 A CN 201210330044A CN 103076739 A CN103076739 A CN 103076739A
- Authority
- CN
- China
- Prior art keywords
- sma
- self
- wire
- driver
- sma wire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
本发明公开了一种自反馈的双形状记忆合金丝驱动控制系统及其测试平台，包括SMA驱动器，SMA驱动器的输出端向第一SMA丝和第二SMA丝输出驱动电压和/或电流，SMA驱动器的输入端连接有PID控制器，PID控制器接收输入目标位置信息并向SMA驱动器输出第一SMA丝和第二SMA丝的电压和/或电流占空比信号，SMA驱动器的输出端与PID控制器的输入端之间连接有自传感反馈单元，自传感反馈单元向所述PID控制器的输入端反馈所述第一SMA丝和第二SMA丝的位移信息、电阻信息及力信息。结构简单、体积小、无外部传感器，并事实上实现了驱动和执行一体化，提高了微创手术器械的设计空间，并为单孔手术专用机器人提供了可行的方案。
The invention discloses a self-feedback double shape memory alloy wire drive control system and its test platform, including an SMA driver, the output end of the SMA driver outputs drive voltage and/or current to the first SMA wire and the second SMA wire, and the SMA The input end of the driver is connected with a PID controller, and the PID controller receives the input target position information and outputs the voltage and/or current duty cycle signals of the first SMA wire and the second SMA wire to the SMA driver, and the output end of the SMA driver is connected with the PID A self-sensing feedback unit is connected between the input ends of the controller, and the self-sensing feedback unit feeds back the displacement information, resistance information and force information of the first SMA wire and the second SMA wire to the input end of the PID controller . The structure is simple, the volume is small, there is no external sensor, and the integration of drive and execution is actually realized, which improves the design space of minimally invasive surgical instruments, and provides a feasible solution for single-hole surgery special robots.
Description
Technical field
The present invention relates to a kind of marmen that is applicable to micro-wound surgical operation, relate in particular to a kind of dimorphism shape memory alloys silk driving control system and test platform thereof of self feed back.
Background technology
Along with being rooted in the hearts of the people and the rapid progress of minimal invasive techniques of Wicresoft's theory, on the basis of traditional laparoscopic surgery, a kind of technology of more Wicresoft---single-hole laparoscopic surgery becomes a reality.This technical advantage scar that is to perform the operation is more hidden, intra-abdominal adhesions still less, postoperative pain is lighter, postoperative rehabilitation is faster.Become one of international forward position focus that numerous scholars and scientific research institution pay close attention to and produce the robotic surgical device who is applicable to the single hole endoscope-assistant surgery.
At present, for single hole endoscope-assistant surgery robot, business-like system does not also emerge, one of them major reason is that drive unit separates with topworks in existing robot conventional ADS driving mode, and existing drive unit volume size is all too large, occupy a large amount of space outerpaces, so that the operation technique insufficient space, operating difficulty increases, and can not enter and finish complicated operation technique in the human body.
Summary of the invention
The purpose of this invention is to provide a kind of simple in structure, volume is little, dimorphism shape memory alloys silk driving control system and the test platform thereof of the self feed back of flexible operation.
The objective of the invention is to be achieved through the following technical solutions:
The dimorphism shape memory alloys silk driving control system of self feed back of the present invention, comprise sma actuator, the output terminal of described sma actuator is to a SMA silk and the 2nd SMA silk outputting drive voltage and/or electric current, the input end of described sma actuator is connected with the PID controller, described PID controller receives the input target position information and exports voltage and/or the electric current duty cycle signals of a SMA silk and the 2nd SMA silk to described sma actuator, be connected with the self-sensing feedback unit between the input end of the output terminal of described sma actuator and described PID controller, described self-sensing feedback unit feeds back the displacement information of a described SMA silk and the 2nd SMA silk to the input end of described PID controller, resistance information.
The dimorphism shape memory alloys silk of self feed back of the present invention drives the control test platform, comprise linear guides, be provided with slide block between described stuck-module and the active module, be provided with a SMA silk between described active module and the slide block, be provided with the 2nd SMA silk between described stuck-module and the described slide block, be provided with the first power sensor between described active module and the SMA silk, be provided with the second power sensor between described stuck-module and described the 2nd SMA silk, described slide block is connected with displacement transducer;
A described SMA silk, the 2nd SMA silk, the first power sensor, displacement transducer, the second power sensor are connected with the dimorphism shape memory alloys silk driving control system of above-mentioned self feed back.
As seen from the above technical solution provided by the invention, dimorphism shape memory alloys silk driving control system and the test platform thereof of self feed back provided by the invention, owing to only being formed by two SMA silks, simple in structure, volume is little, without external sensor, and in fact realized driving and carrying out integrated.Improve to a great extent the design space of Minimally Invasive Surgery apparatus, and provide feasible scheme for single hole operation special purpose robot.When the end effector tool of coupling Minimally Invasive Surgery, driver is installed in the supporting construction of tubulose, and the motion of a plurality of degree of freedom is carried out in terminal wrist formula joint by system drive of the present invention, realize the flexible operating of narrow space in the body.
Description of drawings
Fig. 1 carries out the accurately control flow schematic diagram of control of self feed back for the dimorphism shape memory alloys silk driving control system of the self feed back that the embodiment of the invention provides;
Fig. 2 is the schematic flow sheet of compensation model control in the embodiments of the invention;
Fig. 3 is the circuit diagram of two SMA silk driving control systems in the embodiments of the invention;
Fig. 4 drives the structural representation of controlling test platform for the dimorphism shape memory alloys silk of the self feed back that embodiments of the invention provide.
The implication of mark among the figure:
1. a S type power sensor, 2. a SMA drives silk, and 3. the 2nd SMA drives silk, 4.LVDT displacement transducer, 5. the 2nd S type power sensor, 6. stuck-module, 7. slide block, 8. linear guides, 9. active module.
Embodiment
The below will be described in further detail the embodiment of the invention.
The dimorphism shape memory alloys (SMA) of self feed back of the present invention silk driving control system, its better embodiment be as shown in Figure 1 and Figure 2:
Comprise sma actuator, the output terminal of described sma actuator is to a SMA silk and the 2nd SMA silk outputting drive voltage and/or electric current, the input end of described sma actuator is connected with the PID controller, described PID controller receives the input target position information and exports voltage and/or the electric current duty cycle signals of a SMA silk and the 2nd SMA silk to described sma actuator, be connected with the self-sensing feedback unit between the input end of the output terminal of described sma actuator and described PID controller, described self-sensing feedback unit feeds back the displacement information of a described SMA silk and the 2nd SMA silk to the input end of described PID controller, resistance information.
Be connected with the lag model compensating unit between the input end of described PID controller and the input end of described sma actuator, described lag model compensating unit receives the input target position information and exports voltage and/or the current compensation duty cycle signals of a SMA silk and the 2nd SMA silk to described sma actuator.
Also be connected with the compensation model control module between the input end of described PID controller and the input end of described sma actuator, described compensation model control module receives the input target position information and exports the resistance duty cycle difference signal of a SMA silk and the 2nd SMA silk to described sma actuator.
The dimorphism shape memory alloys silk of self feed back of the present invention drives the control test platform, its better embodiment as shown in Figure 3:
Comprise linear guides, be provided with slide block between described stuck-module and the active module, be provided with a SMA silk between described active module and the slide block, be provided with the 2nd SMA silk between described stuck-module and the described slide block, be provided with the first power sensor between described active module and the SMA silk, be provided with the second power sensor between described stuck-module and described the 2nd SMA silk, described slide block is connected with displacement transducer;
A described SMA silk, the 2nd SMA silk, the first power sensor, displacement transducer, the second power sensor are connected with the dimorphism shape memory alloys silk driving control system of above-mentioned self feed back.
Described the first power sensor and the second power sensor are S type power sensor, and described displacement transducer is the LVDT displacement transducer.
Among the present invention, realize bi-directional drive by two SMA silks, and realize in the situation that without the accurate control of external sensor, be applicable to drive single hole endoscope-assistant surgery apparatus by resistance feedback and feedforward compensation.
Drive the control test platform by setting up two SMA silks, be used for sma actuator control model and set up the isoparametric measurement of process stress, strain and resistance, and two drivings silk applied suitable prestress and prestrain, after the control model is set up, driver is implemented the accurately checking of control of self-sensing:
This test platform comprises that a pair of antagonism SMA drives silk, miniature line slideway, modularization pulling slide block, LVDT displacement transducer, S type power sensor, circuit control module and data collecting card, direct current linear power supply.
Described antagonism SMA drives silk, has under the high temperature and shrinks, and the characteristics that strength decreased easily is stretched under the low temperature by current flow heats, are used for providing the driving force of this driver element.
Described miniature line slideway and modularization pull slide block, are used for guaranteeing that SMA drives the interference that is not subjected to radial force in the situation of in axial direction motion.
Described LVDT displacement transducer is used for demarcating the actual strain amount that SMA drives silk.
Described S type power sensor is used for demarcating SMA and drives silk in the actual stress of contraction process.
Described circuit control module is used for drawing the real-time resistance of SMA by SMA voltage and normal voltage ratio, and regulation and control SMA drives the loading current dutycycle of silk.
Data collecting card is used for gathering SMA and drives the real-time resistance of silk and the simulating signal that other sensor is passed back.
Described direct current linear power supply provides the energy for the heating that SMA drives silk
By the above-mentioned test platform that provides, draw the resistance that SMA drives silk-deformation relationship figure, and set up match near-linear control model.Drive voltage duty cycle on the silk-deformation relationship figure according to the actual SMA that puts on, dutycycle-deformation lagged relationship model is set up in match.Above-mentioned two set of model that are coupled finally obtain core control model.
Based on described core control model, the displacement control module further adopts the strategy of fuzzy to realize.The target location that is input as described drive unit of this fuzzy PID control strategy is output as the high level number percent that described direct current linear power supply is exported, and this ratio is as the input parameter of described circuit control module.The final accurate control that realizes driver.
The invention has the beneficial effects as follows: adopt of the present invention pair of SMA wire actuator and self feed back control model, can only realize the active movement of twocouese by two SMA silks, and need not outer sensor and realize accurately control, so that driving is integrated with execution, and has larger energy volume output ratio.Can with the coupling of hypomegetic wrist formula mechanism, make the operating theater instruments of single hole endoscope-assistant surgery special use.
Specific embodiment:
The end effector that is used for couple drive endoscope-assistant surgery robot comprises for two SMA silks of setting up control model and checking driver control effect and precision driving the control test platform:
As shown in Figure 3, circuit control module drives silk, the different PWM ripple dutycycles of the 2nd SMA driving silk output to a SMA simultaneously, and the SMA silk drives slide block along guide rail movement.Described LVDT displacement transducer, the travel distance of real-time testing slide block, namely SMA drives the actual strain amount of silk.A described S type power sensor and the 2nd S type power sensor, in the real-time testing slide block movement process, two SMA drive silk because the stress that shrinks or be stretched and produce.
As shown in Figure 2, driving circuit series connection measuring resistance and SMA silk, the voltage ratio that loads on measuring resistance and SMA silk by measuring the direct current linear power supply draws SMA silk resistance R
SMARelative standard's resistance R
0Ratio, draw the real-time resistance of SMA silk:
The control model drives the control test platforms based on two SMA silks as shown in Figure 1a, sets up the resistance that draws SMA and drive silk-deformation relationship figure, and sets up match near-linear control model.Drive voltage duty cycle on the silk-deformation relationship figure according to the actual SMA that puts on, dutycycle-deformation lagged relationship model is set up in match.
In the specific implementation process, be input as the target location, calculate actual loaded in the upper dutycycle of two SMA driving silks in conjunction with lagged relationship model and resistance feedback value, know that slide block arrives estimating position.
In the specific implementation process, shown in Fig. 1 b, dutycycle-deformation lagged relationship model is used for after the current flow heats process begins, by the input of target location, prediction reaches that the target location is required to load on required PWM ripple dutycycle on two SMA silks, and with this numerical value output.To survey resistance value input resistance-deformation relationship afterwards, draw the approximate deformation quantity of this moment, and draw required dutycycle tendency.The dutycycle tendency combination that the dutycycle that lag model is drawn and resistance-deformation relationship draw is finally regulated optimization by the control strategy of fuzzy, obtains the dutycycle output valve.
Two SMA silk drive systems among the present invention mainly are the end effector tools for the Minimally Invasive Surgery that is coupled, and solve existing apparatus and are subjected to the conventional ADS driving system constraint, the restriction that volume can't further reduce.This driver only is comprised of two SMA silks, simple in structure, volume is little, without external sensor, and in fact realized driving and carrying out integrated.Improve to a great extent the design space of Minimally Invasive Surgery apparatus, and provide feasible scheme for single hole operation special purpose robot.
When the end effector tool of coupling Minimally Invasive Surgery, driver is installed in the supporting construction of tubulose, and the motion of a plurality of degree of freedom is carried out in terminal wrist formula joint by system drive of the present invention, realize the flexible operating of narrow space in the body.
The above; only for the better embodiment of the present invention, but protection scope of the present invention is not limited to this, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103300441A CN103076739A (en) | 2012-09-07 | 2012-09-07 | Self-feedback drive control system of double shape memory alloy wires and testing platform of drive control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103300441A CN103076739A (en) | 2012-09-07 | 2012-09-07 | Self-feedback drive control system of double shape memory alloy wires and testing platform of drive control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103076739A true CN103076739A (en) | 2013-05-01 |
Family
ID=48153306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012103300441A Pending CN103076739A (en) | 2012-09-07 | 2012-09-07 | Self-feedback drive control system of double shape memory alloy wires and testing platform of drive control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103076739A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106716268A (en) * | 2014-08-08 | 2017-05-24 | 东洋系统股份有限公司 | Feedback control device |
| CN110089021A (en) * | 2016-09-14 | 2019-08-02 | 智能合金有限公司 | Shape memory alloy actuator and its manufacturing method with strain-gage pickup and location estimation |
| CN113406148A (en) * | 2021-05-24 | 2021-09-17 | 上海交通大学 | A device based on shape memory alloy |
| CN116600192A (en) * | 2023-05-12 | 2023-08-15 | 深圳市芯歌电子科技有限公司 | Method for driving control based on nonlinear compensation, actuating structure and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101117952A (en) * | 2007-06-29 | 2008-02-06 | 华中科技大学 | A space bending shape memory alloy driver and its driving control device |
| KR20120040431A (en) * | 2010-10-19 | 2012-04-27 | 동의대학교 산학협력단 | Finger system in artificial hand with multiple degree of freedom and method for controlling the same |
-
2012
- 2012-09-07 CN CN2012103300441A patent/CN103076739A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101117952A (en) * | 2007-06-29 | 2008-02-06 | 华中科技大学 | A space bending shape memory alloy driver and its driving control device |
| KR20120040431A (en) * | 2010-10-19 | 2012-04-27 | 동의대학교 산학협력단 | Finger system in artificial hand with multiple degree of freedom and method for controlling the same |
Non-Patent Citations (4)
| Title |
|---|
| CHEN MA 等: ""A Flexible New Method to Improve the Accuracy of SMA Self-Sensing Control"", 《PROCEEDINGS OF 2012 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION》 * |
| SHU-HUNG LIU 等: ""Tracking Control of Shape-Memory-Alloy Actuators Based on Self-Sensing Feedback and Inverse Hysteresis Compensation"", 《SENSORS》 * |
| 刘旺中 等: ""SMA迟滞系统的PID控制及参数优化研究"", 《功能材料》 * |
| 李杰锋 等: ""形状记忆合金线性驱动器的设计及位移特性分析"", 《机械工程学报》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106716268A (en) * | 2014-08-08 | 2017-05-24 | 东洋系统股份有限公司 | Feedback control device |
| CN110089021A (en) * | 2016-09-14 | 2019-08-02 | 智能合金有限公司 | Shape memory alloy actuator and its manufacturing method with strain-gage pickup and location estimation |
| US11215170B2 (en) | 2016-09-14 | 2022-01-04 | Smarter Alloys Inc. | Shape memory alloy actuator with strain gauge sensor and position estimation and method for manufacturing same |
| CN110089021B (en) * | 2016-09-14 | 2022-04-01 | 智能合金有限公司 | Shape memory alloy actuator and manufacturing method thereof |
| CN113406148A (en) * | 2021-05-24 | 2021-09-17 | 上海交通大学 | A device based on shape memory alloy |
| CN116600192A (en) * | 2023-05-12 | 2023-08-15 | 深圳市芯歌电子科技有限公司 | Method for driving control based on nonlinear compensation, actuating structure and storage medium |
| CN116600192B (en) * | 2023-05-12 | 2024-03-22 | 福州昕霖智能科技有限公司 | Method for driving control based on nonlinear compensation, actuating structure and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Camarillo et al. | Configuration tracking for continuum manipulators with coupled tendon drive | |
| Yip et al. | High-performance robotic muscles from conductive nylon sewing thread | |
| CN104191429B (en) | The mixing control method of a kind of tendon driving device hand position and tendon tension force and control device | |
| CN105342703B (en) | Tension control in actuation of articulated medical instruments | |
| Tang et al. | Temperature self-sensing and closed-loop position control of twisted and coiled actuator | |
| CN103076739A (en) | Self-feedback drive control system of double shape memory alloy wires and testing platform of drive control system | |
| CN107378942B (en) | Soft mechanical arm and using method thereof | |
| Tung et al. | Laser-machined shape memory alloy sensors for position feedback in active catheters | |
| CN106029307A (en) | Calibration method for manipulator, manipulator, and manipulator system | |
| CN207771832U (en) | Software mechanical arm | |
| Wang et al. | A lightweight soft gripper driven by self-sensing super-coiled polymer actuator | |
| Giataganas et al. | Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool | |
| Jakes et al. | Model-less active compliance for continuum robots using recurrent neural networks | |
| Hadi et al. | Modeling and experiment of a flexible module actuated by shape memory alloy wire | |
| Shi et al. | An inchworm-inspired crawling robot | |
| Yang et al. | A variable stiffness soft robotic manipulator based on antagonistic design of supercoiled polymer artificial muscles and shape memory alloys | |
| Jiang et al. | Design and Nonlinear Control of a 2‐DOF Flexible Parallel Humanoid Arm Joint Robot | |
| Wang et al. | Noncollocated position control of tendon-sheath actuated slender manipulator | |
| Zhang et al. | Research on soft manipulator actuated by shape memory alloy (SMA) springs | |
| CN117679079A (en) | Laparoscopic ultrasound scanning system and force control method for liver surgery | |
| CN107756388B (en) | A physical human-computer interaction platform based on rope traction and series elastic drive | |
| Zhang et al. | Continuum robots: a real-time model-based data-driven nonlinear controller | |
| Hao et al. | Inverse kinematic modeling of the tendon-actuated medical continuum manipulator based on a lightweight timing input neural network | |
| Ahmed et al. | Kinestatic modeling of a spatial screw-driven continuum robot | |
| Benouhiba et al. | A multisegment electro-active polymer based milli-continuum soft robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C05 | Deemed withdrawal (patent law before 1993) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130501 |