Accession Number:

ADA429536

Title:

Stress Based Control of a Single-Degree-of-Freedom SMA Actuated Arm

Descriptive Note:

Conference paper

Corporate Author:

VIRGINIA POLYTECHNIC INST AND STATE UNIV BLACKSBURG DEPT OF MECHANICAL ENGINEERING

Report Date:

2003-06-01

Pagination or Media Count:

6.0

Abstract:

In this paper a nonlinear stress-based controller is designed to position a single-degree-of-freedom shape memory alloy SMA actuated manipulator. A three part model was constructed based on the dynamicskinematics of the arm, the thermomechanical behavior of SMAs and a heat transfer model consisting of electrical heating and natural convection. A variable structure controller is designed to calculate a desiredness based on position error. The desired stress is compared with the actual stress which is computed using a Kalman filter. The stress error is then used for control via a proportional-integral PI controller. Numerical simulations are performed to investigate tracking performance and robustness. The results demonstrate that the controller design is highly accurate in tracking both stationary and time-varying input signals.

Subject Categories:

  • Metallurgy and Metallography
  • Mechanics
  • Thermodynamics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE