Inhalt

•  
   Introduction
•  
   Motivation
•  
   Goals
•  
   Outline
•  
  Shape Memory Alloys
•  
   SMA Phases
•  
  Stress Strain Behaviour: Austenite
•  
   Pseudoelasticity
•  
   Minor loop behaviour
•  
   Austenite reloading behaviour
•  
   Stress Strain Behaviour: Martensite
•  
   Mechanically Induced Martensite Fraction
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   Thermally Induced Martensite Fraction
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   Effect of Stress on the Hysteresis: Total Martensite Fraction
•  
   Minor hysteresis loops
•  
   Shape Memory Effect
•  
   SMAs as Position and Force Actuators
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   Summary
•  
   Literature Review and Solution Approach
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   Modelling Approach
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   Control Approach
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  Stress-Strain Model at Threshold Temperatures
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   SMA Model Base Equation
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   SMA Model Algorithm
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   Model Initialization: Parameter Identification
•  
   Modelling the Mechanically Induced Martensite Fraction
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   Model Parameter Update: Austenite
•  
   Austenite unloading
•  
   Austenite reloading
•  
  Model Parameter Update: Martensite
•  
   Martensite unloading
•  
   Martensite reloading
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   Experimental Validation and Discussion
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   Monotonic loading and unloading and parameter identification
•  
   Austenite complete cyclic loading
•  
   Austenite partial cyclic loading
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   Martensite cyclic loading
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   Experimental validation on different wire samples
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   Summary
•  
  Stress Strain Model at Arbitrary Temperatures
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   Experimental Set-up
•  
   Parallel Organisation of SMA Phases
•  
   Modelling the Thermally Induced Martensite Fraction
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   Loading
•  
   Unloading
•  
   Cyclical Loading and Unloading
•  
   Summary
•  
  Phase Kinetics Model
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   Thermal Hysteresis Modelling
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   Modelling of Minor Loops
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   Modelling Algorithm
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   Mechanical Hysteresis Modelling
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   Total Martensite Fraction
•  
   Model Validation: Experimental Set-Up
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   Model Validation: Major Hysteresis Loop at Various Stresses
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   Model Validation: Minor Hysteresis Loop at Various Stresses
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   Summary
•  
  Inverse SMA Model
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   Stress-Strain Model Inverse
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   Phase Kinetics Model Inverse
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   Summary
•  
   Model-based Position Control
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   Position Control via Temperature Control
•  
   Position Control via Temperature and Strain Control
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   Extended PWM based Controller
•  
   Extended Variable Structure Controller
•  
   Variable Structure Controller according to Elahinia.2002
•  
   Asymmetric boundary layer
•  
   Adaptive control current
•  
   Final EVSC control law and effect of modifications
•  
   Step Response with Constant Masses with EPWM and EVSC
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   Step response at first step (heating)
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   Step response at second and third steps (cooling)
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   Step response at fourth step (heating)
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   Step response at fifth step (heating)
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   Sinusoidal Response with Constant Masses with EPWM and EVSC Controllers
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   Bandwidth
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   Disturbance Rejection and Dynamic Masses
•  
   Summary
•  
   Embedded Force and Position Control for an Industrial Clamping Application
•  
   SMA-based Clamping Vice
•  
   System Architecture
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   Mechanics
•  
   Controller Architecture
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  SMA-based Clamping Vice Performance
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   Step response
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   Sinusoidal response
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   Disturbance rejection
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   Summary
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   Conclusions and Future Work
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   Bibliography
•  
  Detailed Derivations
•  
   Calculation of s-shaped curve
•  
   Calculation of k1 and k2 during parameter identification
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   Calculation of k2 for austenite unloading
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   Calculation of q for austenite unloading
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   Calculation of q for martensite reloading
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   Calculation of switching parameters: heating to cooling
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   Calculation of switching parameters: cooling to heating
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   Phase kinetics model extension
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  Data sheets
•  
   SMA SmartFlex Wire General Characteristics
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   SMA SmartFlex Wire Showing Transformation Temperatures
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   SMA SmartFlex Wire Showing Hysteresis Relationship to Stress
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   Servo Hydraulic Tensile Tester
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   Cooling Thermostat with Level Controller
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   Cooling Thermostat Specifications
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   PT100 Type K Thermocouple
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   Digital Thermometer
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   Force Sensor
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   Amplifier
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   Laser Distance Sensor
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   Thermocouple
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   Thermocouple Amplifier
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   Current Driver
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   Data Aquisition Board
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   Force Resistive Sensor
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   Current Shunt Monitor
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   Microcontroller