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TECHNICAL BRIEFS

A Temperature-based Controller for a Shape Memory Alloy Actuator

[+] Author and Article Information
Mohammad H. Elahinia, Hanghao Tan

Mechanical Industrial and Manufacturing Engineering Department, The University of Toledo, Toledo, OH 43606

Hashem Ashrafiuon

Mechanical Engineering Department, Villanova University, Villanova, Pennsylvania 19085

Mehdi Ahmadian

Mechanical Engineering Department, Virginia Tech, Blacksburg, Virginia 24061

J. Vib. Acoust 127(3), 285-291 (Jun 01, 2005) (7 pages) doi:10.1115/1.1898335 History: Received June 10, 2003; Revised July 07, 2004; Online May 18, 2005

Abstract

This paper presents a robust nonlinear control that uses a state variable estimator for control of a single degree of freedom rotary manipulator actuated by shape memory alloy (SMA) wire. A model for SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulator, a constitutive model of the shape memory alloy, and the electrical and heat transfer behavior of SMA wire. The current experimental setup allows for the measurement of only one state variable which is the angular position of the arm. Due to measurement difficulties, the other three state variables, arm angular velocity and SMA wire stress and temperature, cannot be directly measured. A model-based state estimator that works with noisy measurements is presented based on the extended Kalman filter (EKF). This estimator estimates the state vector at each time step and corrects its estimation based on the angular position measurements. The estimator is then used in a nonlinear and robust control algorithm based on variable structure control (VSC). The VSC algorithm is a control gain switching technique based on the arm angular position (and velocity) feedback and EKF estimated SMA wire stress and temperature. Using simulation it is shown that the state vector estimates help reduce or avoid the undesirable and inefficient overshoot problem in SMA one-way actuation control.

Copyright © 2005 by American Society of Mechanical Engineers
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