Lag-Lead Compensator for Shape Memory Alloy in Gripping Manipulation
نویسنده
چکیده
Abstrak Shape Memory Alloy (SMA) adalah salah satu jenis aktuator yang sedang banyak dipelajari pada aplikasi skala mikro dan nano. Namun di sisi lain, pengembangan pengendalian dalam skala ini masih perlu pengembangan dan penelitian lebih lanjut. Artikel ini mempresentasikan hasil evaluasi tanggapan pergerakan kendali kalang tertutup dari TiNi SMA dalam bentuk spring yang dikendalikan kompensator lag, lead dan lag-lead. SMA yang digunakan berdiameter 50 mm dan berat 350 gram. Sinyal penggerak SMA ini menggunakan modulasi lebar pusla (PWM) sinyal dengan beberapa frekuensi dan duty-cycle. Frekuensi sinyal PWM yang digunakan yaitu 12, 25, 125, 250 and 1150 Hz. Sebagai pengendali, antar muka dan pengambilan data keseleruhan sistem digunakan Lab-View dan DAQ-Card. Gripper yang digunakan terdiri dari dua buah jari dan dapat digerakkan sampai dengan 30. Hasil eksperimen dengan kalang tertutup akan ditampilkan dan didiskusikan pada artikel ini. Untuk aplikasi lebih lanjut, maka kendali kalang tertutup juga diuji coba menggunakan kompensator lag, lead dan lag-lead. Dengan menggunakan kendali kalang tertutup ini, maka waktu untuk mencapai risetime menjadi lebih singkat dan tingkat galat kondisi tunak menjadi lebih kecil.
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