Introduction Magnetically controlled shape memory alloy (MSMA) actuators take advantages of their large deformation and high controllability. However, the intricate hysteresis nonlinearity often results in low positioning accuracy and slow actuator response. Methods In this paper, a modified Krasnosel'skii-Pokrovskii model was adopted to describe the complicated hysteresis phenomenon in the MSMA actuators. Adaptive recursive algorithm was employed to identify the density parameters of the adopted model. Subsequently, to further eliminate the hysteresis nonlinearity and improve the positioning accuracy, the model reference adaptive control method was proposed to optimize the model and inverse model compensation. Results The simulation experiments show that the model reference adaptive control adopted in the paper significantly improves the control precision of the actuators, with a maximum tracking error of 0.0072 mm. Conclusions The results prove that the model reference adaptive control method is efficient to eliminate hysteresis nonlinearity and achieves a higher positioning accuracy of the MSMA actuators.

中文翻译：

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基于kp模型的磁控形状记忆合金执行器模型参考自适应控制

介绍 磁控形状记忆合金 (MSMA) 执行器具有变形大和可控性高的优点。然而，复杂的滞后非线性通常会导致定位精度低和执行器响应缓慢。方法在本文中，采用改进的Krasnosel'skii-Pokrovskii 模型来描述MSMA 执行器中复杂的滞后现象。采用自适应递归算法识别所采用模型的密度参数。随后，为进一步消除滞后非线性，提高定位精度，提出了模型参考自适应控制方法优化模型和逆模型补偿。结果仿真实验表明，本文采用的模型参考自适应控制显着提高了执行器的控制精度，最大跟踪误差为0.0072 mm。结论 结果证明，模型参考自适应控制方法可以有效地消除滞后非线性并实现 MSMA 执行器更高的定位精度。