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Computationally efficient modelling and precision position and force control of SMA actuators / Arathi Pai. Paderborn, 2020
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
Thermally Induced Martensite Fraction
Effect of Stress on the Hysteresis: Total Martensite Fraction
Minor hysteresis loops
Shape Memory Effect
SMAs as Position and Force Actuators
Summary
Literature Review and Solution Approach
Modelling Approach
Control Approach
Stress-Strain Model at Threshold Temperatures
SMA Model Base Equation
SMA Model Algorithm
Model Initialization: Parameter Identification
Modelling the Mechanically Induced Martensite Fraction
Model Parameter Update: Austenite
Austenite unloading
Austenite reloading
Model Parameter Update: Martensite
Martensite unloading
Martensite reloading
Experimental Validation and Discussion
Monotonic loading and unloading and parameter identification
Austenite complete cyclic loading
Austenite partial cyclic loading
Martensite cyclic loading
Experimental validation on different wire samples
Summary
Stress Strain Model at Arbitrary Temperatures
Experimental Set-up
Parallel Organisation of SMA Phases
Modelling the Thermally Induced Martensite Fraction
Loading
Unloading
Cyclical Loading and Unloading
Summary
Phase Kinetics Model
Thermal Hysteresis Modelling
Modelling of Minor Loops
Modelling Algorithm
Mechanical Hysteresis Modelling
Total Martensite Fraction
Model Validation: Experimental Set-Up
Model Validation: Major Hysteresis Loop at Various Stresses
Model Validation: Minor Hysteresis Loop at Various Stresses
Summary
Inverse SMA Model
Stress-Strain Model Inverse
Phase Kinetics Model Inverse
Summary
Model-based Position Control
Position Control via Temperature Control
Position Control via Temperature and Strain Control
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
Step response at first step (heating)
Step response at second and third steps (cooling)
Step response at fourth step (heating)
Step response at fifth step (heating)
Sinusoidal Response with Constant Masses with EPWM and EVSC Controllers
Bandwidth
Disturbance Rejection and Dynamic Masses
Summary
Embedded Force and Position Control for an Industrial Clamping Application
SMA-based Clamping Vice
System Architecture
Mechanics
Controller Architecture
SMA-based Clamping Vice Performance
Step response
Sinusoidal response
Disturbance rejection
Summary
Conclusions and Future Work
Bibliography
Detailed Derivations
Calculation of s-shaped curve
Calculation of k1 and k2 during parameter identification
Calculation of k2 for austenite unloading
Calculation of q for austenite unloading
Calculation of q for martensite reloading
Calculation of switching parameters: heating to cooling
Calculation of switching parameters: cooling to heating
Phase kinetics model extension
Data sheets
SMA SmartFlex Wire General Characteristics
SMA SmartFlex Wire Showing Transformation Temperatures
SMA SmartFlex Wire Showing Hysteresis Relationship to Stress
Servo Hydraulic Tensile Tester
Cooling Thermostat with Level Controller
Cooling Thermostat Specifications
PT100 Type K Thermocouple
Digital Thermometer
Force Sensor
Amplifier
Laser Distance Sensor
Thermocouple
Thermocouple Amplifier
Current Driver
Data Aquisition Board
Force Resistive Sensor
Current Shunt Monitor
Microcontroller
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