Effect of stress on bandwidth of antagonistic shape memory alloy actuators

Abstract

This article presents the experimental study on the influence of stress generated between the antagonistically connected shape memory alloy wire actuators over its bandwidth of operation. It is a well-known fact that behaviour of shape memory alloy is strongly coupled with temperature, stress and strain. An attempt is made to understand the effect of these factors on its bandwidth from control perspective through frequency response analysis. A phenomenological correlation is presented between the frequency response of antagonistic shape memory alloy and stress acting between the wires under different strains and temperatures. A clear demarcation between influence of temperature and stress over the operating frequency is discussed. Experimental result shows that apart from temperature, operating frequency of antagonistically connected shape memory alloy is also highly influenced by stress acting between the wires at higher temperatures. Also, the effect becomes much more significant under partial transformation strain. The result of the study is extended and demonstrated through tracking control of antagonistic shape memory alloy at a frequency of about 2 Hz.

Keywords

antagonism shape memory alloy frequency response tracking control deforming force

Get full access to this article

View all access options for this article.

References

Ahn

Nguyen

(2006) Position control of shape memory alloy actuators using self tuning fuzzy PID controller. International Journal of Control Automation and Systems 4: 756–762.

Dhanalakshmi

Avinash

Umapathy

. (2010) Experimental study on vibration control of shape memory alloy actuated flexible beam. International Journal of Smart Sensing and Intelligent Systems 3: 156–175.

Grant

Hayward

(1997) Variable structure control of shape memory alloy actuators. IEEE Control Systems Magazine 17: 80–88.

Kuribayashi

(1991) Improvement of the response of an SMA actuator using a temperature sensor. International Journal of Robotics Research 10: 13–20.

Lagoudas

(2007) Shape Memory Alloys – Modelling and Engineering Applications. Berlin: Springer.

Lan

(2010) Investigation on pretensioned shape memory alloy actuators for force and displacement self-sensing. In: International conference on intelligent robots and systems, Taipei, Taiwan, 18–22 October, pp. 3043–3048.

Lan

(2011) A self-sensing micro gripper module with wide handling range. IEEE: ASME Transactions on Mechatronics 16: 141–149.

Lan

Fan

(2010) An accurate self-sensing method for the control of shape memory alloy actuated flexures. Sensors and Actuators A: Physical 163: 323–332.

Loh

Yokoi

Arai

(2006) Natural heat-sinking control method for high-speed actuation of the SMA. International Journal of Advanced Robotic Systems 3: 303–312.

10.

Song

(2003) Control of shape memory alloy actuator using pulse width modulation. Smart Materials and Structures 12: 712–719.

11.

Moallem

(2003) Deflection control of a flexible beam using shape memory alloy actuators. Smart Materials and Structures 12: 1023–1027.

12.

Moallem

Tabrizi

(2008) Tracking control of an antagonistic shape memory alloy actuator pair. IEEE Transactions on Control Systems Technology 17: 184–190.

13.

Nakshatharan

Ruth

DJS

Dhanalakshmi

(2012) Design based active vibration control of a flexible structure using shape memory alloy wire actuators. In: IEEE International conference on sensing technology, Kolkata, India, 18–21 December, pp. 476–480.

14.

Ruth

DJS

Dhanalakshmi

Nakshatharan

(2012) Force measurement using self-sensing shape memory alloy. In Proceeding of Third Asian conference on mechanics of functional materials and structures, New Delhi, India, 5–8 December, pp. 55–58.

15.

Ruth

DJS

Nakshatharan

Dhanalakshmi

(2014) Differential resistance feedback control of a self-sensing shape memory alloy actuated system ISA Transactions 53(2): 289–297.

16.

Song

Chaudhry

Batur

(2003) Precision tracking control of shape memory alloy actuators using neural networks and a sliding-mode based robust controller. Smart Materials and Structures 12: 223–231.

17.

Song

Kelly

Agarwal

(2000) Active position control of a shape memory alloy wire actuated composite beam. Smart Materials and Structures 9: 711–716.

18.

Tadesse

Thayer

Priya

(2009) Tailoring the response time of shape memory alloy wires through active cooling and pre-stress. Journal of Intelligent Material Systems and Structures 21: 19–40.

19.

Teh

Featherstone

(2007) Frequency response analysis of shape memory alloy actuators. In: International conference on smart materials and nanotechnology in engineering, Harbin, China, 1–4 July, Proc. SPIE vol. 6423, J42232–J42232.

20.

Teh

Featherstone

(2008) An architecture for fast and accurate control of shape memory alloy actuators. International Journal of Robotics Research 27: 595–611.