Position control of shape memory alloy (SMA)‎ wire using model- and behavioralbased and non model-based controllers

العناوين الأخرى

التحكم بحركة سلك Shape Memory Alloy (SMA)‎ باستخدام نماذج أنظمة تحكّم مبنية على أنظمة مرتبطة بالمنظومة الرياضية و الدائية و المنظومة اللأدائية

مقدم أطروحة جامعية

Ghanim, Samah Ahmad Muhammad Mustafa

مشرف أطروحة جامعية

Shibli, Hasan A.
Soffker, Dirk

أعضاء اللجنة

Hammad, Ibrahim
al-Suwayti, Yusuf

الجامعة

جامعة بيرزيت

الكلية

كلية الهندسة و التكنولوجيا

القسم الأكاديمي

دائرة علم الحاسوب

دولة الجامعة

فلسطين (الضفة الغربية)

الدرجة العلمية

ماجستير

تاريخ الدرجة العلمية

2008

الملخص الإنجليزي

Shape Memory Alloys exhibit a hysteretic shape memory behavior under heating and cooling conditions.

The purpose of this research work is to develop a control algorithm to control the position of the SMA wire actuator.

The first scope of experiments was to test and to model the SMA behavior through model and behavioral-based control.

Firstly, an Austinite-Martensitemodel (AM-model) is derived from the heat transfer function substituting the change in the SMA length of the resistance equation for the austinite subsystem while other assumptions for the change in the material from a passive to an active element to build the martensite subsystem, the model was tested by comparing the behavior of the model with the behavior of the VII experiment, therefore a feedforward control structure was used.

Secondly, a Volume-model (V-model) is derived from the heat transfer function taking the change in the volume in the SMA wire under heating and cooling transformations, the model is tested in a feedforward controller.

Thirdly, the Ohm-model (O-model) is derived from the previous research work [1] evaluating the change in resistance in different phase transformations to find the excitation current through Ohms law, the model is tested for feedforward control.

All these model- and behavioral-based approaches are not able to control the position of the SMA wire due to their strong temperature dependency; where the temperature of the wire cannot be measured by a sensor as it is not equal in all points of the wire’s surface, while the computation time in the calculations of the approximated wire temperature using the heat transfer equation doesn’t match the real time needs of the system.

The second scope of experiments covers a non model-based control using a PI controller and an PID adaptive controller and they both have excellent performance in the position control of the SMA wire, the control error increases at high frequencies due to low response time of the material at natural cooling.

The outcome of this research work; firstly, a strong understanding of the material capabilities as it is not based on theoretical work and simulations but on real experimental environment where methods can be validated.

Secondly, a robust SMA PI tuned position controller.

Thirdly, an adaptive controller that can be used to tune the coefficients of the SMA wire or any plant with unknown parameters, the advantage is that non model-based controllers are not temperature dependant, and they just need few tuning of the system procedures.

However, this research provides a basis for planning applications of the material in mechanical based engineering systems like in Smart Antennas, or in automated devices, etc.

While encourages continuous research in the modelling part of the SMA to have a general behavioral-model based on the material characteristics.

All the experiments are tested using VIII an NiTi SMA wire.

Using MATLAB/SIMULINK 6.1/5.0 and the dSPACE DS1104 data acquisition real time system.

التخصصات الرئيسية

تكنولوجيا المعلومات وعلم الحاسوب

الموضوعات

• الحوسبة

عدد الصفحات

80

قائمة المحتويات

• APA
• MLA
• AMA

لغة النص

الإنجليزية

نوع البيانات

رسائل جامعية

رقم السجل

BIM-303391