One of the primary difficulties to implementing NiTi shape memory alloys as robotic actuators is reliably amplifying their low linear strain to large effective displacements. Bowden tubes, called “push-pull cables” in other industries, allow a long length of Shape Memory Alloy (SMA) wire to fit in a small space; this provides a method for increasing effective SMA actuator strain without compromising space or complexity of the entire mechanism. The mechanical advantage of the Bowden tube provides faster actuation speeds, but comes at a cost of increased thermal capacitance resulting in higher power consumption. A feedback control system has been formed comprising the Bowden tube actuator, a rotary platform, and a microcontroller. The controller heats the SMA by passing current through the SMA wire using pulse-width-modulation. After describing the creation of the electro-mechanical system, its capabilities and limitations are discussed. Linear Parameter Varying (LPV) models of SMA are used to determine the range of characteristics the inherently nonlinear SMA system will exhibit. A sliding mode controller is designed based on these characteristics, and implemented in the prototype. Sliding-mode control is shown to be a powerful tool for SMA control even when system parameters are uncertain.
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ASME 2017 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
September 18–20, 2017
Snowbird, Utah, USA
Conference Sponsors:
- Aerospace Division
ISBN:
978-0-7918-5826-4
PROCEEDINGS PAPER
Bowden Tube NiTi Actuators With Linear Parameter Varying Model and Sliding Mode Control
Austin Gurley,
Austin Gurley
Auburn University, Auburn, AL
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Tyler Ross Lambert,
Tyler Ross Lambert
Auburn University, Auburn, AL
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Royall Broughton
Royall Broughton
Auburn University, Auburn, AL
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Austin Gurley
Auburn University, Auburn, AL
Kyle Kubik
Auburn University, Auburn, AL
Tyler Ross Lambert
Auburn University, Auburn, AL
David Beale
Auburn University, Auburn, AL
Royall Broughton
Auburn University, Auburn, AL
Paper No:
SMASIS2017-3989, V002T03A038; 8 pages
Published Online:
November 9, 2017
Citation
Gurley, A, Kubik, K, Lambert, TR, Beale, D, & Broughton, R. "Bowden Tube NiTi Actuators With Linear Parameter Varying Model and Sliding Mode Control." Proceedings of the ASME 2017 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. Volume 2: Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation; Structural Health Monitoring. Snowbird, Utah, USA. September 18–20, 2017. V002T03A038. ASME. https://doi.org/10.1115/SMASIS2017-3989
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