Artículos de revistas
Modeling, control and experimental validation of a novel actuator based on shape memory alloys
Fecha
2009Registro en:
MECHATRONICS, v.19, n.7, p.1169-1177, 2009
0957-4158
10.1016/j.mechatronics.2009.03.007
Autor
ROMANO, Roberto
TANNURI, Eduardo Aoun
Institución
Resumen
The paper presents the development of a mechanical actuator using a shape memory alloy with a cooling system based on the thermoelectric effect (Seebeck-Peltier effect). Such a method has the advantage of reduced weight and requires a simpler control strategy as compared to other forced cooling systems. A complete mathematical model of the actuator was derived, and an experimental prototype was implemented. Several experiments are used to validate the model and to identify all parameters. A robust and nonlinear controller, based on sliding-mode theory, was derived and implemented. Experiments were used to evaluate the actuator closed-loop performance, stability, and robustness properties. The results showed that the proposed cooling system and controller are able to improve the dynamic response of the actuator. (C) 2009 Elsevier Ltd. All rights reserved.