In the hot bath, it contracts due to the shapememory. Mavroidis robotics and mechatronics laboratory, department of mechanical and aerospace engineering, rutgers university, the state university of new jersey, 98 brett road, piscataway, nj 088548058, usa abstract. Jul 10, 2018 these valves need a lot of force to act on the spring maintaining pressure during the static state. Control of a shape memory alloy actuator for mirror positioning. Here we propose a feedforwardfeedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. Fast, accurate force and position control of shape memory alloy actuators a thesis submitted for the degree of doctor of philosophy of the australian national university yee harn teh department of information engineering anu college of engineering and computer science june 2008. A shape memory alloybased soft morphing actuator capable of. Neural networkbased micropositioning control of smart shape. Junkins it is well known that the preisach model is useful to approximate the effect of. Precise position control of shape memory alloy actuator. In shape memory alloys, strokes are large, but their control is slow due to thermomechanical control. This thesis considers the application of shape memory alloy sma actuators for shape control of the undertray of a sports car.
Indeed, a simplified model simulating the sma mechanical behavior has been. Feedforwardfeedback hybrid control for magnetic shape memory. System identification of a nitibased sma actuator using a modified. Pdf shape memory alloy sma actuators can be made very compact and simple. This is due to the fact that the control of the sma is a hard process. This paper demonstrates the feasibility of using shape memory alloys smas as actuators to control the vibration of a. Johnson tini alloy company, san leandro, ca, usa abstract shape memory actuators are used where a large force and stroke are required and thermodynamic efficiency is not essential. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Shape memory alloy sma actuators have drawn much attention and interest due to their unique and superior properties, and are expected to be equipped in many modern vehicles at competitive market prices. Pdf enhanced adaptive controller applied to sma wire control. Wo2005026539a2 apparatus and method for low cost control of. Shape memory alloy actuators and their reliability o.
Adaptive control is a good choice in the shape memory alloy sma wire actuator plant case. Pdf modeling and control of shape memory alloy actuator. Rau is the expert for shape memory alloys assemblies made of shape memory alloys are used as thermal actuators in the automotive industry as well in further fields of measurement and control technolog, appliance technology, aviation industry as well as medical technology. Nonlinear position control of antagonistic shape memory alloy. Systemlevel design of a shape memory alloy actuator for. Second, a previously proposed direct adaptive control is tested experimentally and compared with a traditional control approach. Development of advanced actuators using shape memory alloys. Dec 20, 2012 shape memory alloys actuators sma actuators. Inversionfree adaptive control of uncertain systems with. Adaptive control of a shape memory alloy actuator using. There have been great challenges in position and force control of shape memory alloy sma actuators during the last decades. Position control of shape memory alloy actuators using self. Bernstein abstract w e apply retr ospecti ve cost adapti ve contr ol rca c to a commandf ollo wing pr oblem for an uncertain shapememoryalloy sma actuator. Niti shape memory actuators respond to temperature changes with a shape change.
A shape memory alloy is an alloy that can be deformed when cold but returns to its predeformed remembered shape when heated. Therefore, a precise control of the needling device in the unstructured environment in the presence of external disturbance is required to achieve accurate target reaching in clinical applications. Proceedings of the asme 2010 conference on smart materials, adaptive structures and intelligent systems. Experimental evaluation of a shape memory alloy wire actuator. Control of shape memory alloy sma actuator using series. In this paper, a shape memory alloy actuated active flexible needle controlled by an adaptive sliding mode controller is presented. As the tendon contracts, the actuation force creates a moment about the beam.
Active vibration control of a flexible cantilever beam. Actuator performance is reported for a range of prestress values and actuation frequencies. Shape memory alloy sma actuators, which have the ability to return to a predetermined shape when heated, have many potential applications such as aeronautics, surgical tools, robotics and so on. Modeling and experimental characterization of the stress. Thermal modeling of shape memory alloy wire actuators for. However, due to the slow actuation speed of smas, there are. In contrast, shapememory alloy linear actuation can serve to make such installations function as proportional valves because unlike solenoids, controls can drive the actuator to any position to control flow. Feb 22, 2016 shape memory alloy is one type of smart material. In a tendon mechanism, smas are controlled in a pushpull fashion based on hin. Magnetic control of the shape memory effect was recently suggested by the present author for a principle of new kinds of actuator materials. We consider the specific example of a shape memory alloy actuator and identify a class of controllers which provide stability of position feedback with current as the control variable. Fast, accurate force and position control of shape memory. Precise position control of shape memory alloy actuator using. Control of a shape memory alloy actuator for mirror.
The change in temperature can be caused by a change in the environment or by electrically heating ihe ni ti elemen in ihe fi rst case, ihe shape memory alloy acls as a sensor and an actuator thennal actuator. Abstract we have developed two types of shape memory alloy sma actuator and estimated the longterm reliability of sma microcoils. The shape memory alloy spring under test is a product of the toki corporation. An alloy exhibiting the shape memory effect has the following property. Pdf shape memory alloy actuator with simple adaptive control. In this paper, a novel adaptive sliding mode control with a proportionalintegralderivative pid tuning method is proposed to control a shape memory alloy sma actuator. By deforming the shape of the structure that provides aerodynamic stability to the car, we expect to improve the overall performance of the vehicle by adapting its aerodynamics according to the vehicle speed. It may also be called memory metal, memory alloy, smart metal, smart alloy, or muscle wire. This variation in the microscopic structure induces shape changes in the material, particularly in its length, if the sample is wireshaped. Position control of shape memory alloy actuators using self tuning fuzzy pid controller kyoung kwan ahn and bao kha nguyen abstract. The shape memory effect in sma is based on the transition caused between two solid phases. This article introduces a novel design for a soft morphing actuator capable of pure twisting motion through a pair of shape memory alloy wires embedded in a polydimethylsiloxane matrix at constant. Shape memory alloy actuators in robots and composites. The goal of the controller is to achieve system robustness against the sma hysteresis phenomenon, system uncertainties and external disturbances.
In section 3, specific adaptive aerodynamics applications found in the. Figure 5 block diagram of adaptive pid controller 64. Mar 24, 2015 principle and application of actuators based on materials with shape memory 2003. Overview and future advanced engineering applications for. Design of a novel flexible shape memory alloy actuator. Since the discovery of shape memory in titaniumnickel, a number of inventions. In versionfr ee adapti ve contr ol of uncertain systems with shapememoryalloy actuation mohammad al janaideh and dennis s. Modeling and control of shape memory alloy actuator. Shape memory alloy wire has significant potential for application in the automobile industry due to its high ratio of energy weight and silent actuation. These materials can develop strains of several percent, and their control is rapid and precise. Adaptive proportionalintegralderivative tuning sliding.
Shape memory alloy is an amazing material, which can remember and return to its original shape when heated due to its temperature dependent phase transformation. Shape memory alloys in automotive applications scientific. One simple way to implement this constraint is to augment the cost. Stoeckel, simpson paper presented at the adpaaiaaasmespie. Sliding mode control of a shape memory alloy actuated. Development of advanced actuators using shape memory alloys and electrorheological fluids c. Pid controller shows best results for the full range of motion. Stateoftheart of shape memory actuators tini alloy. Title shape memory alloy actuators in robots and composites. The broad aim of this dissertation is also to pro vide a users guide to the design of smabased actuators. A blackbox bb model based on a laguerre filter is used to identify the sma actuator and the controller in closed loop.
Shape memory alloy sma actuators, which have the ability to return to a. The helical tini spring is under tension so it is stretched. Adaptive control of a shape memory alloy actuator using neuralnetwork feedforward and rise feedback. Neural network feedforward and rise feedback control. Adaptive inverse modeling of a shape memory alloy wire actuator and tracking control with the model. Actuator 2018, messe bremen 26 adaptive control for a lightweight robotic arm actuated by a shape memory allow wire, jun 2018 actuation of the gripper. Williams, eric, shaw, gordon, and elahinia, mohammad. Shape memory alloy spring conventional control of a shape memory alloy robotics unit nicugeorge bizdoaca, elvira bizdoaca, sonia degeratu university of craiova, faculty of control, computers and electronics, 5 tehnicii, 1100 craiova email. Issues in the design of shape memory alloy actuators. This paper presents an experimental investigation of position control of a shape memory alloy sma wire actuator with adaptive and modulated adaptive controllers. Adaptive control for a lightweight robotic arm actuated by. Threedimensional hysteresis modeling of robotic arti. In this paper, adaptive predictive control is proposed to control a shape memory alloy sma linear displacement actuator. A smart soft composite, constituted of shape memory alloy wires and glass.
The shape recovery process is accompanied by large forces, which can be harnessed to perform mechanical work. An artificial neural network is used to identify and control the shape memory alloy actuator. Position control of shape memory alloy actuators using. Systemlevel design of a shape memory alloy actuator for active clearance control in the highpressure turbine nasatm20052834 july 2005 national aeronautics and space administration glenn research center prepared for the 41st joint propulsion conference and exhibit cosponsored by the aiaa, asme, sae, and asee tucson, arizona, july 10. The shape memory effect it can be deformed easily when cold, but returns to its original shape when heated. The arrangement is tested for its controllability using open and closed loop control. The nonlinear saturated hysteresis behavior during forward and reverse transformations of sma actuators is the main difficulty in controlling these materials. An architecture for fast and accurate control of shape memory. High performance force control for shape memory alloy sma. A preliminary study of a torsional actuator has b een made. Shape memory alloy sma materials are widely used as an actuating source for bending actuators due to their high power density. Shape memory alloys actuators sma actuators youtube.