Affiliations: [a] Division of Human Mechanical Systems and Design,
Graduate School of Engineering, Hokkaido University, Sapporo, Japan | [b] Division of Human Mechanical Systems and Design,
Faculty of Engineering, Hokkaido University, Sapporo, Japan
Correspondence:
[*]
Corresponding author: Hiroyuki Harada, Division of Human
Mechanical Systems and Design, Faculty of Engineering, Hokkaido University,
North 8, West 5, Sapporo 060-8628, Japan. Tel.: +81 11 706 6931; Fax: +81 706
6391; E-mail: [email protected]
Abstract: The purpose of this study is to develop a complete mathematical
model of a thick shape memory alloys (SMA) actuator based on the Liang and
Rogers model. Due to hysteresis and significant nonlinearities in the behavior
of shape memory alloy actuators, the modeling of SMA actuators has been a great
challenge in recent years, which limit the application of these actuators. In
this paper, a new model is used to represent the major and minor hysteresis
loops of SMA actuator based on the Liang and Rogers model. The modified Liang
and Rogers model of SMA wire actuated by an electric current is derived and
several experiments are used to validate the model and to identify the
parameters. A key feature of the proposed model is to predict the martensite
starting temperature of minor loops. This model can be used to develop a
position control system for the SMA actuator. Simulation results for the model
are found to be in good agreement with experimental data.
Keywords: SMA actuator, major and minor hysteresis loops, modeling
