Shape Memory Alloys (SMAs) have been demonstrated to be effective actuator elements in a wide range of applications, such as robotics, medicine, aerospace and automotive. Enabled by the unique thermo-mechanical properties of SMAs, these actuators offer the advantages of light weight, high power-to-weight ratio and a simple actuation mechanism compared to traditional actuator types. At the same time, the widespread adoption of the SMA actuator remains elusive as its low power efficiency and complex hysteretic behaviour often render it an impractical means of actuation. These actuators also exhibit a slow response speed and their response is highly sensitive to changes in the external environment, namely ambient temperature and mechanical stress, thus complicating their control. Position, force or temperature sensors may be used to facilitate feedback control, but at the cost of increasing the overall size and complexity of the system. The difficulties caused by the hysteretic behaviour can be largely avoided when SMA wires are used as on-off actuators, making SMAs well suited for such applications. However, they may still be subject to a wide range of dynamic operating conditions that would impact their actuation time, and achieving a consistent actuation time is often highly desirable. This thesis presents the synthesis of a nitinol SMA actuator control system which uses electrical resistance feedback to enable a fast response speed and robustness to disturbances in the external environment. A study of the resistance behaviour of SMAs is discussed first. The design of an adaptive controller and the experimental evaluation of its performance are described in detail next. The objective of the SMA actuator control system is to achieve a consistent and fast actuation time throughout the range of operating ambient temperature and stress. The control system is implemented experimentally and shown to be quite successful.

Shape Memory Alloys (SMAs) have been demonstrated to be effective actuator elements in a wide range of applications, such as robotics, medicine, aerospace and automotive. Enabled by the unique thermo-mechanical properties of SMAs, these actuators offer the advantages of light weight, high power-to-weight ratio and a simple actuation mechanism compared to traditional actuator types. At the same time, the widespread adoption of the SMA actuator remains elusive as its low power efficiency and complex hysteretic behaviour often render it an impractical means of actuation. These actuators also exhibit a slow response speed and their response is highly sensitive to changes in the external environment, namely ambient temperature and mechanical stress, thus complicating their control. Position, force or temperature sensors may be used to facilitate feedback control, but at the cost of increasing the overall size and complexity of the system. The difficulties caused by the hysteretic behaviour can be largely avoided when SMA wires are used as on-off actuators, making SMAs well suited for such applications. However, they may still be subject to a wide range of dynamic operating conditions that would impact their actuation time, and achieving a consistent actuation time is often highly desirable. This thesis presents the synthesis of a nitinol SMA actuator control system which uses electrical resistance feedback to enable a fast response speed and robustness to disturbances in the external environment. A study of the resistance behaviour of SMAs is discussed first. The design of an adaptive controller and the experimental evaluation of its performance are described in detail next. The objective of the SMA actuator control system is to achieve a consistent and fast actuation time throughout the range of operating ambient temperature and stress. The control system is implemented experimentally and shown to be quite successful.

Les activités R&D dans le domaine d’aéronautique sont actuellement orientées par l’évolution naturelle vers des technologies plus efficaces et durables. La motivation principale de cette tendance est le besoin de résoudre les problèmes liés à la nature de l’industrie très polluante. À cet égard, le développement d’avions plus électriques contribuerait à la réduction de la consommation de combustibles fossiles en intégrant des sources et des convertisseurs d’énergie alternatifs, tels que les piles à combustibles (PàC). Cependant, un système PàC devrait se conformer à des contraintes de fiabilité et de sécurité particulières, d’autant plus que l’environnement aéronautique n’est guère clément : cyclages en pression et en température, ainsi que des forces mécaniques, agissants dans les trois dimensions. Les vibrations et les chocs peuvent notamment entraîner un desserrage brusque ou graduel de la PàC, dégradant ainsi ses performances et pouvant aller jusqu’à une fuite de gaz. Il semble donc important de pouvoir surveiller l’état de serrage mécanique d’une PàC au cours du temps, idéalement de manière non intrusive. Les résultats présentés dans la littérature indiquent que la qualité du serrage mécanique d’une PàC peut être évaluée à travers sa résistance ohmique (Rohm), plus précisément par sa partie électronique (Re-, formée par les résistances des couches de la PàC et les résistances de contact). Dans les conditions nominales de fonctionnement, l’autre partie plus importante de la Rohm – la résistance protonique (RH+, formée par la résistance de la membrane et de l’ionomère) – ne dépend pas de la force de serrage. Cette amalgamation de résistances de natures différentes empêche une extraction de la Re- sans l’utilisation de capteurs invasifs. Par conséquent, l’estimation de la qualité du serrage mécanique d’une PàC n’est pas aisée. Au cours de cette thèse, une méthode de diagnostic préventif in situ capable de détecter la dégradation des conditions de serrage d’une PàC par la modélisation de sa résistance ohmique est proposée. Une étude théorique est d’abord réalisée afin de démontrer que les résistances RH+ et Re- peuvent être séparées de la Rohm totale, à partir de leur dépendance à la température. La méthode de diagnostic est ensuite validée à l’aide de données expérimentales générées lors de la caractérisation de deux PàC à membrane échangeuse de protons : basse et haute température. Quelques divergences entre les valeurs identifiées par l’algorithme et celles rapportées dans la littérature sont observées, néanmoins, elles représentent correctement l’état du serrage mécanique de la PàC. Dans l’ensemble, les résultats sont encourageants dans le but d’estimer la qualité du serrage mécanique d’une PàC à travers l’évolution de RH+ et Re-. / The aeronautical R&D activities are currently shaped by the issues associated with the pollutantrich nature of the industry and the natural evolution towards more effective and sustainable technologies. In this regard, the development of more electric aircraft would contribute to reducing fossil fuel consumption by incorporating alternative sources and converters of energy, such as FCs. However, a FC system would have to comply with particular reliability and safety constraints, especially as the aeronautical environment is not very indulgent: abundant pressure and temperature cycling as well as mechanical loads, varying both in frequency and amplitude, in all three dimensions. Vibrations and shocks can in particular lead to a sudden or gradual loosening of the FC, thus degrading its performance, and possibly provoking a gas leak. It therefore seems important to be able to monitor the tightening state of a FC over time, ideally in a non-intrusive manner. Results reported in the literature indicate that the quality of the mechanical tightening of a FC assembly might be assessed through its ohmic resistance (Rohm), more precisely through its electronic part (Re-, formed by the bulk resistances of FC layers and the interfacial contact resistances). In nominal operating conditions, the second and more dominant part of Rohm – the protonic resistance (RH+, formed by the membrane and ionomer resistances) – does not depend on clamping pressure. This amalgamation of resistances of different natures prevents an easy extraction of Re- without the use of invasive sensors and thus an estimation of the quality of the mechanical tightening of a FC assembly. This thesis proposes an in situ preventive diagnosis method that is capable of detecting the degradation of clamping conditions of a FC through the modelling of its ohmic resistance. A theoretical study is performed and demonstrates that the RH+ and Re- resistances can be separated from the total Rohm, based on their temperature dependence. The proposed method is verified with experimental data generated during the characterization of low and high temperature Polymer Electrolyte Membrane (PEM) single cells. Although some differences between the values identified by the algorithm and those reported in the literature are observed, they correctly depict the behavior of the mechanical tightening of the tested FCs. Overall, the results are encouraging in the aim of monitoring the quality of mechanical tightening of a FC through the evolution of RH+ and Re-.