Phase control of oscillators for moving body in narrow passage

A flexible biomimetic fish-like robot for use in a flow in narrow passage was developed. Downsizing of the moving body was achieved using shape memory alloy (SMA) actuators. However, overheating an SMA actuator causes phase-transition saturation, and may cause a decrease in the fin vibration amplitu...

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Autores principales:	Akio YAMANO, Atsuhiko SHINTANI, Tomohiro ITO, Chihiro NAKAGAWA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2015
Materias:	flexible moving body self-excited vibration sma actuator coupled oscillator narrow passage Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/ad9dacf752b04444bfe9b751ebe98f7a
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spelling	oai:doaj.org-article:ad9dacf752b04444bfe9b751ebe98f7a2021-11-26T06:25:42ZPhase control of oscillators for moving body in narrow passage2187-974510.1299/mej.14-00545https://doaj.org/article/ad9dacf752b04444bfe9b751ebe98f7a2015-03-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/2/3/2_14-00545/_pdf/-char/enhttps://doaj.org/toc/2187-9745A flexible biomimetic fish-like robot for use in a flow in narrow passage was developed. Downsizing of the moving body was achieved using shape memory alloy (SMA) actuators. However, overheating an SMA actuator causes phase-transition saturation, and may cause a decrease in the fin vibration amplitude. In order to avoid this problem, a new driving method that utilized a self-excited oscillator was introduced. This proposed method is suited for generating oscillation with keeping temperature in SMA constant by using self-sensing, and needs to adjust only one parameter. We confirmed the effectiveness of the proposed driving method against overheating based on experiments and numerical simulations. Simulation proved that this method can keep thrust force of the moving body constant. For the fish-like moving body, multiple actuators are needed to realize higher degree of freedom behavior, and the phases of these actuator outputs also are needed to be synchronized to generate fish-like behavior, i.e., traveling wave. On the other hand, in the proposed driving method, the actuator system simulates a self-excited vibration system. Therefore, it was necessary to design the coupled inputs for oscillators composed by actuators to synchronize the oscillator outputs. To achieve this, a phase model was obtained from an actuator model, which consists of a thermal conductivity model and hysteresis model using a phase reduction analysis. Coupled inputs for proposed connecting method were designed based on this phase model, and the relationship between the phase difference of the coupled actuators and the connection gains was examined. Finally, we realized phase control using this.Akio YAMANOAtsuhiko SHINTANITomohiro ITOChihiro NAKAGAWAThe Japan Society of Mechanical Engineersarticleflexible moving bodyself-excited vibrationsma actuatorcoupled oscillatornarrow passageMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 2, Iss 3, Pp 14-00545-14-00545 (2015)
institution	DOAJ
collection	DOAJ
language	EN
topic	flexible moving body self-excited vibration sma actuator coupled oscillator narrow passage Mechanical engineering and machinery TJ1-1570
spellingShingle	flexible moving body self-excited vibration sma actuator coupled oscillator narrow passage Mechanical engineering and machinery TJ1-1570 Akio YAMANO Atsuhiko SHINTANI Tomohiro ITO Chihiro NAKAGAWA Phase control of oscillators for moving body in narrow passage
description	A flexible biomimetic fish-like robot for use in a flow in narrow passage was developed. Downsizing of the moving body was achieved using shape memory alloy (SMA) actuators. However, overheating an SMA actuator causes phase-transition saturation, and may cause a decrease in the fin vibration amplitude. In order to avoid this problem, a new driving method that utilized a self-excited oscillator was introduced. This proposed method is suited for generating oscillation with keeping temperature in SMA constant by using self-sensing, and needs to adjust only one parameter. We confirmed the effectiveness of the proposed driving method against overheating based on experiments and numerical simulations. Simulation proved that this method can keep thrust force of the moving body constant. For the fish-like moving body, multiple actuators are needed to realize higher degree of freedom behavior, and the phases of these actuator outputs also are needed to be synchronized to generate fish-like behavior, i.e., traveling wave. On the other hand, in the proposed driving method, the actuator system simulates a self-excited vibration system. Therefore, it was necessary to design the coupled inputs for oscillators composed by actuators to synchronize the oscillator outputs. To achieve this, a phase model was obtained from an actuator model, which consists of a thermal conductivity model and hysteresis model using a phase reduction analysis. Coupled inputs for proposed connecting method were designed based on this phase model, and the relationship between the phase difference of the coupled actuators and the connection gains was examined. Finally, we realized phase control using this.
format	article
author	Akio YAMANO Atsuhiko SHINTANI Tomohiro ITO Chihiro NAKAGAWA
author_facet	Akio YAMANO Atsuhiko SHINTANI Tomohiro ITO Chihiro NAKAGAWA
author_sort	Akio YAMANO
title	Phase control of oscillators for moving body in narrow passage
title_short	Phase control of oscillators for moving body in narrow passage
title_full	Phase control of oscillators for moving body in narrow passage
title_fullStr	Phase control of oscillators for moving body in narrow passage
title_full_unstemmed	Phase control of oscillators for moving body in narrow passage
title_sort	phase control of oscillators for moving body in narrow passage
publisher	The Japan Society of Mechanical Engineers
publishDate	2015
url	https://doaj.org/article/ad9dacf752b04444bfe9b751ebe98f7a
work_keys_str_mv	AT akioyamano phasecontrolofoscillatorsformovingbodyinnarrowpassage AT atsuhikoshintani phasecontrolofoscillatorsformovingbodyinnarrowpassage AT tomohiroito phasecontrolofoscillatorsformovingbodyinnarrowpassage AT chihironakagawa phasecontrolofoscillatorsformovingbodyinnarrowpassage
_version_	1718409801093873664

Phase control of oscillators for moving body in narrow passage

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