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TECHNICAL PAPERS

Nonlinear Control of a Shape Memory Alloy Actuated Manipulator

[+] Author and Article Information
Mohammad H. Elahinia, Hashem Ashrafiuon

Mechanical Engineering Department, Villanova University, Villanova, PA 19085

J. Vib. Acoust 124(4), 566-575 (Sep 20, 2002) (10 pages) doi:10.1115/1.1501285 History: Received October 01, 2001; Revised May 01, 2002; Online September 20, 2002
Copyright © 2002 by ASME
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References

Figures

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The 1-dof SMA arm, actuated by NiTi wire and a bias spring
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Block diagram of the 1-dof SMA-actuated arm model
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Open loop simulation results in response to different step inputs
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Open loop experimental results in response to different step inputs
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Effect of a small voltage increase on phase transformation and arm rotation (left) V=7.2 v (right) V=7.3 v
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PID controller experimental results for different desired angles
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Simulation results with simple switch (VSC1), simple switch with boundary layer (VSC2), and modified switch with boundary layer (VSC3) controllers; (top) control input V, (bottom) system output θ
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Phase plane of simulations with simple switch (VSC1), simple switch with boundary layer (VSC2), and modified switch with boundary layer (VSC3) controllers
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Modified switch with boundary layer controller experimental results showing the effect of λ
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Modified switch with boundary layer controller experimental results showing the effect of ϕ
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Comparing simulation and experimental results for modified switch with boundary layer controller (θd=0 deg)
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Modified switch with boundary layer controller experimental results for different desired angles
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Modified switch with boundary layer controller experimental results of following user commands
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Modified switch with boundary layer controller experimental results of tracking a sine-wave
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Modified switch with boundary layer controller experimental results verifying disturbance rejection

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