Experimental characterization and validation of model for cantilever beam platform using SMA actuator
Keywords:
Shape-memory alloys, SMA actuator, Simulation model, Experimental characterizationAbstract
Shape-memory alloys are being used and studied in different areas due to features such as feasibility, high deformation per volume ratio with shape recovery, soft and silente movements. Although these actuators present some advantages for use, its application in position control of structures has some drawbacks related to parameter characterization and, consequently, for system modeling. The lack of information for model the SMA actuator has been compensated in literature by using control algorithms such as Fuzzy controllers, RNA and Fuzzy-PID controller that requires hardware for implementation with more computational requirements. This work presents a model for a flexible cantilever beam actuated by shape-memory alloy (SMA) actuator. The SMA actuator is actived in order to control the position of the free tip of the cantilever beam. The proposed model in Simulink/Matlab is composed by mechanical and electrical sub-systems of the structure. The proposed model is validated by the comparison with the experimental results obtained from a laboratory test bench. The metric used to validate the model is Normalized Mean Squared Error (NMSE), reaching a value of 0.9981, and Normalized Root Mean Squared Error (NRMSE) of 0.9562, for a 90% duty cycle. As a result, the proposed model can be used for implementation of position closed-loop control of the structure based on conventional algorithms (PI or PID) suitable for simpler hardware presenting limited computational resources (microcontrollers).
Downloads
References
J. Jayender, R. V. Patel, S. N. and Ostojic, M. (2008), Modeling and control of shape memory alloy actuators, IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 16(2): Pag 279-287.
Lagoudas, D. C. (2008), Shape Memory Alloys - Modeling and Engineering Applications, 1st edn, Springer, Springer Science+Business Media, LLC, 233 Spring Street, New York, NY 10013, USA.
Yamauchi, K., Ohkata, I., Tsuchiya, K. and Miyazaki, S. (2011), Shape memory and superelastic alloys - Technologies and applications, 1st edn, WOODHEAD PUBLISHING, 80 High Street, Sawston, Cambridge CB22
HJ, UK.
Lima, W. M. (2008), Plataforma para análise comportamental de atuadores de ligas com memória de forma e para o controle de deformação de uma barra flexível, Master’s thesis, Universidade Federal de Campina
Grande
Roshan, T. A. U., Basnayake, B. A. D. J. C. K., Amarasinghe, Y. W. R., Wijethunge, D. and Nanayakkara, N. D. Development of a PID Based Closed Loop Controller for Shape Memory Alloy Actuators, 2018 Moratuwa Engineering Research Conference (MERCon).
Tai, N. T. and Ahn, K. K. (2012), Robust Indirect Adaptive Control for a Class of Nonlinear Systems and Its Application to Shape Memory Alloy Actuators, IEEE Access (Volume 6): Pag 35809 - 35823.
Pan, Y., Guo, Z., Li, X. and Yu, H. (2017), Output-Feedback Adaptive Neural Control of a Compliant Differential SMA Actuator, 2017 IEEE Transactions on Control Systems Technology.
Tai, N. T. and Ahn, K. K. (2012), Output feedback direct adaptive controller for a sma actuator with a kalman fi lter, Transactions on Control Systems Technology 20(4): Pag 1081 - 1091.
Shi, Z., Tian, J., Luo, R., Zhao, G. and Wang, T. Multifeedback Control of a Shape Memory Alloy Actuator and a Trial Application, IEEE transactions on systems, man and cybernetics: systems, vol. 48, no. 7, july 2018.
Xiaoguang, L., Daohui, Z., Xingang, Z. and Han, J. (2017), Modeling and control of shape memory alloy actuator using feedback linearization, 2017 36th Chinese Control Conference(CCC).
Alsayed, Y. M., Abouelsoud, A. A., Fath El Bab, A. M. R., Hybrid Sliding Mode Fuzzy Logic-Based PI Controller Design and Implementation of Shape Memory Alloy Actuator, 2016 8th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT).
A. A. P. Pequeno (2012), Aplicação de métodos de controle em uma estrutura ativa de viga engastada com atuador de liga com memória de forma, Master’s thesis, Universidade Federal de Campina Grande.
Campos, A. H. P. (2018), Estratégias de controle aplicadas a um atuador de liga de memória de forma para o controle de deformação de uma viga engastada, Master’s thesis, Universidade Federal de Campina Grande
Mohammad H. Elahinia (2015), Shape Memory Alloy Actuators, Vol. 1, first edn , John Wiley & Sons, Ltd. URL: https://doi.org/10.1002/9781118426913
Abdelaal, W. G. A. and Nagib, G. (2014), Modeling and simulation of sma actuator wire, 9th International Conference on Computer Engineering & Systems (ICCES).
D, J. S. R. and Dhanalakshmi, K. (2017), Shape memory alloy wire for force sensing, IEEESensors Journal 17(4): Pag 967 - 975.
Nascimento, M. J., de Araújo, C., de Almeida, L., da Rocha Neto, J. and Lima, A. (2009), A mathematical model for the strain-temperature hysteresis of shape memory alloy actuators, Materials & Design 30(3): 551 - 556. URL: http://www.sciencedirect.com/science/article/pii/S0261306908002318.
Velázquez, R. and Pissaloux, E. (2012), Modelling and temperature control of shape memory alloys with fast electrical heating, International Journal of Mechanics and Control 13(2): Pag 3 - 10.
Inc., D. (n.d.), Technical characteristics of flexinol actuator wires, DYNALLOY, Inc., Acesso em: 09/10/2018. URL: http://www.dynalloy.com/pdfs/TCF1140.pdf
Hibbeler, R. C. (2005), Resistência dos Materiais, Vol. 1, 5th edn, Prentice-Hall
![](https://latamt.ieeer9.org/public/journals/1/submission_5980_9539_coverImage_en_US.png)