Mathematical Model, Experimental Verification and Control of Actuators Based on Metal – Hydrogen System

The design and mathematical modeling of gas actuator with linear and rotary movement are described. The power source is a metal hydride compressor based on \(LaNi_{4{,}7} Al_{0{,}3}\) intermetallic compound. The pressure and temperature of hydrogen in the working chambers are determined by equations, as in traditional pneumatic drives, based on the energy conservation equations for the chamber and the equation of state in differential form. The hydrogen flow rate in the chambers is determined by the equations of the kinetics sorption - desorption processes and the heat balance for the metal hydride and parts of the actuator structure. The results of calculations and experimental data obtained on actuators prototypes are presented. It is shown that the proposed relatively simple mathematical model makes it possible to obtain qualitative estimates the static and dynamic characteristics of actuators.