Shape memory alloys (SMAs) provide exciting opportunities for miniature actuation systems. As SMA actuators are scaled down in size, cooling increases and bandwidth, improves. However, the inclusion of a bias element with which to cycle the SMA actuator becomes difficult at very small scales. One technique used to avoid the necessity of having to include a separate bias element is the use of local annealing to fabricate a monolithic device out of nickel titanium (NiTi). The actuator geometry is machined out of a single piece of non-annealed NiTi. After locally annealing a portion of the complete device, that section exhibits the shape memory effect while the remainder acts as structural support and provides the bias force required for cycling. This work proposes one such locally-annealed monolithic SMA actuator for future incorporation in a device that navigates the digestive tract. After detailing the derivation of lumped electro-mechanical models for the actuator, a description of the prototyping procedure, including fabrication and local annealing of the actuator, is provided. This thesis presents the experimental prototype actuator behaviour and compares it with simulations generated using the developed models.

Shape memory alloys (SMAs) provide exciting opportunities for miniature actuation systems. As SMA actuators are scaled down in size, cooling increases and bandwidth, improves. However, the inclusion of a bias element with which to cycle the SMA actuator becomes difficult at very small scales. One technique used to avoid the necessity of having to include a separate bias element is the use of local annealing to fabricate a monolithic device out of nickel titanium (NiTi). The actuator geometry is machined out of a single piece of non-annealed NiTi. After locally annealing a portion of the complete device, that section exhibits the shape memory effect while the remainder acts as structural support and provides the bias force required for cycling. This work proposes one such locally-annealed monolithic SMA actuator for future incorporation in a device that navigates the digestive tract. After detailing the derivation of lumped electro-mechanical models for the actuator, a description of the prototyping procedure, including fabrication and local annealing of the actuator, is provided. This thesis presents the experimental prototype actuator behaviour and compares it with simulations generated using the developed models.

Submitted by Marcio Miazaki null (mmiazaki@gmail.com) on 2017-12-12T15:38:22Z No. of bitstreams: 1 Dissertacao.pdf: 2498214 bytes, checksum: bbe1b8f57d985978dca7748b50feb796 (MD5) / Submitted by Marcio Miazaki null (mmiazaki@gmail.com) on 2017-12-14T11:25:02Z No. of bitstreams: 1 Dissertacao.pdf: 2498214 bytes, checksum: bbe1b8f57d985978dca7748b50feb796 (MD5) / Submitted by Marcio Miazaki null (mmiazaki@gmail.com) on 2017-12-14T13:50:31Z No. of bitstreams: 1 Dissertacao.pdf: 2498214 bytes, checksum: bbe1b8f57d985978dca7748b50feb796 (MD5) / Approved for entry into archive by Cristina Alexandra de Godoy null (cristina@adm.feis.unesp.br) on 2017-12-18T10:25:06Z (GMT) No. of bitstreams: 1 miazaki_m_me_ilha.pdf: 2498214 bytes, checksum: bbe1b8f57d985978dca7748b50feb796 (MD5) / Made available in DSpace on 2017-12-18T10:25:06Z (GMT). No. of bitstreams: 1 miazaki_m_me_ilha.pdf: 2498214 bytes, checksum: bbe1b8f57d985978dca7748b50feb796 (MD5) Previous issue date: 2017-11-30 / Este trabalho apresenta uma proposta de utilização de molas helicoidais de liga com memória de forma presentes em rotores flexíveis para a atenuação dos deslocamentos laterais decorrentes de forças de perturbação, notadamente das forças de desbalanceamento. Num primeiro momento, o trabalho apresenta os principais modelos constitutivos de ligas com memória de forma (LMF), onde o princípio de funcionamento deste tipo de material é demonstrado por meio de simulações numéricas, e os resultados obtidos são confrontados com dados disponíveis na literatura. Discute-se também a questão da utilização de um modelo mais simplificado para representar o comportamento da liga para diferentes carregamentos termomecânicos. Dois modelos termomecânicos são confrontados numericamente visando representar adequadamente o comportamento termomecânico da LMF durante as transformações de fase. O trabalho evolui para a construção do modelo matemático via elementos finitos de rotores flexíveis contendo molas helicoidais de LMF e por fim apresenta um conjunto de simulações numéricas para comprovar a eficiência e a potencialidade do procedimento teórico formulado. O trabalho termina comentando as potencialidades da proposta apresentada, discutindo as facilidades e dificuldades encontradas na sua implementação e apontando para o desenvolvimento de futuros estudos. / This work proposes shape memory alloy helical springs present in flexible rotors for the attenuation of lateral displacements mainly caused by unbalance forces. This work presents some constitutive models of shape memory alloys (SMA). The principle of operation of this type of material is demonstrated by numerical simulations and the results obtained are compared with data available in the literature. The present work investigates the use of a simplified model to represent the behavior of the SMA for different thermomechanical loads. Two thermomechanical models are numerically confronted in order to represent properly the thermomechanical behavior of the SMA during the phase transformations. Based on the finite element model of flexible rotors containing helical springs of SMA, the efficiency and the potentiality of the theoretical procedure are shown through numerical simulations. This work is concluded presenting the potentialities of the design methodology proposed and future developments to be implemented.

Orientador: Gustavo Luiz Chagas Manhães de Abreu / Resumo: Este trabalho apresenta uma proposta de utilização de molas helicoidais de liga com memória de forma presentes em rotores flexíveis para a atenuação dos deslocamentos laterais decorrentes de forças de perturbação, notadamente das forças de desbalanceamento. Num primeiro momento, o trabalho apresenta os principais modelos constitutivos de ligas com memória de forma (LMF), onde o princípio de funcionamento deste tipo de material é demonstrado por meio de simulações numéricas, e os resultados obtidos são confrontados com dados disponíveis na literatura. Discute-se também a questão da utilização de um modelo mais simplificado para representar o comportamento da liga para diferentes carregamentos termomecânicos. Dois modelos termomecânicos são confrontados numericamente visando representar adequadamente o comportamento termomecânico da LMF durante as transformações de fase. O trabalho evolui para a construção do modelo matemático via elementos finitos de rotores flexíveis contendo molas helicoidais de LMF e por fim apresenta um conjunto de simulações numéricas para comprovar a eficiência e a potencialidade do procedimento teórico formulado. O trabalho termina comentando as potencialidades da proposta apresentada, discutindo as facilidades e dificuldades encontradas na sua implementação e apontando para o desenvolvimento de futuros estudos. / Abstract: This work proposes shape memory alloy helical springs present in flexible rotors for the attenuation of lateral displacements mainly caused by unbalance forces. This work presents some constitutive models of shape memory alloys (SMA). The principle of operation of this type of material is demonstrated by numerical simulations and the results obtained are compared with data available in the literature. The present work investigates the use of a simplified model to represent the behavior of the SMA for different thermomechanical loads. Two thermomechanical models are numerically confronted in order to represent properly the thermomechanical behavior of the SMA during the phase transformations. Based on the finite element model of flexible rotors containing helical springs of SMA, the efficiency and the potentiality of the theoretical procedure are shown through numerical simulations. This work is concluded presenting the potentialities of the design methodology proposed and future developments to be implemented. / Mestre

The present study in this thesis has attempted to resolve one of the key aspects of enhancing predictability of macroscopic behavior of Shape Memory Alloy (SMA) wire by considering variation of local phase inhomogeneity. Understanding of functional fatigue and its relation with the phase distribution and its passivation is the key towards tailoring thermal Shape Memory Alloy actuators’ properties and performance. Present work has been carried out in two associated areas. First part has covered solving a coupled thermo-mechanical boundary value problem where initial phase fractions are prescribed at the gauss points and subsequent evolution are tracked over the loading cycle. An incremental form of a phenomenological constitutive model has been incorporated in the modelling framework. Finite element convergence studies using both homogeneous and inhomogeneous SMA wires are performed. Effects of phase inhomogeneity are investigated for mechanical loading and thermo-electric loading. Phase inhomogeneity is simulated mainly due to process and handling quality. An example of mechanical boundary condition such as gripping indicates a negative residual strain at macroscopic behavior. Simulation accurately captures vanishing local phase inhomogeneity upon multiple cycles of thermo-mechanical loading on unconstrained straight SMA wire. In the second part, a phase identification and measurement scheme is proposed. It has been shown that by employing variation of electrical resistivity which distinctly varies with phase transformation, martensite phase volume fraction can be quantified in average sense over the length of a SMA wire. This can be easily achieved by using a simple thermo-mechanical characterization setup along with resistance measurement circuit. Local phase inhomogeneity is created in an experimental sample, which is subjected to electrical heating under constant mechanical bias load. The response shows relaxation of the initial shrinkage strain due to local phase. Results observed for thermo-electric loading on the inhomogeneous SMA wires compliment the results observed from the simulated loading cases. Several interesting features such as shrinkage of the inhomogeneous SMA wire after first loading cycle, relaxation of the residual strain over multiple loading cycles due to the presence of inhomogeneity are captured. This model promises useful applications of SMA wire in fatigue studies, SMA embedded composites and hybrid structures.

Shape memory alloys are new, functional materials used in actuator applications with their high power to weight ratio. The high strength or displacement usage of shape memory alloys makes them suitable for direct drive applications, which eliminate use of power transmission elements. The aim of this research is to develop the methodology and the necessary tools to design and produce linear shape memory alloy actuators to be used in missile systems, space applications, and test equipments. In this study, the test apparatus designed and built to characterize shape memory alloy thin wires is described, and then the characterization tests, modeling and control studies performed on a wire are explained. In the control studies, displacement control through strain, resistance and power feedback is investigated and different control strategies (proportional-integral, proportional-integral with feedforward loop, and neural network) are employed. The results of the characterization tests, simulations and experiments are all presented in graphical and tabular form. From the results it is concluded that through careful characterization, the behavior of SMA wire can be closely approximated through models which can be used effectively to test various control strategies in simulations. Also, satisfactory position control of SMA wires can be achieved through both classical and NN control strategies by using appropriate feedback variables and power is found to be a viable feedback variable. Lastly, a linear SMA wire actuator is designed as a case study. The actuator prototype is produced, suitable control strategies are applied and actuator is experimented to validate the theoretical assumptions. The actuator developed through this work is a technology demonstration and shows that shape memory alloy elements can be utilized in several defense and space applications contracted to T&Uuml / BiTAK-SAGE as well as certification test equipments. The development of shape memory alloy actuators that can be used in defense and later in aeronautical/space applications is a critical research and development project for national defense industry.

In this thesis, a new Poly Phase Motor (rotary actuator) based on the Shape Memory Alloy (SMA) is presented. Details of Design, Modeling, Characterization, Realization and Control of Poly Phase SMA Motor are presented. Motor with 3 and 6 Phases, with appropriate Control circuit have been realized in laboratory and simulated results have been verified experimentally. In literature, broadly two types of Shape Memory Alloy based motors namely limited rotation motor and unlimited rotation motor are found. In the unlimited rotation type SMA based motor the SMA element is in the spring form. Hence, an attempt has been made in this research to develop an Unlimited Rotating type Balanced Poly Phase Motor based on SMA wire in series with a spring in each phase. By isolating SMA actuation and spring action a constant force by the SMA wire through out its range of operation is achieved. While designing the motor, similarity in function between Poly Phase SMA Motor and Stepper Motor was found. Hence, the Poly Phase Motor is characterized similar to that of a Stepper Motor. Functionally, the Poly Phase Motor can be used in stepping mode for generating incremental motion and servo mode for generating continuous motion. Various parameters of the motor have been defined. The motor can be actuated in either direction with different Phase sequencing methods, which are presented in this work. While explaining sequencing methods, effect of the thermal time constants has also been presented. The lumped thermal model is used for dynamic simulation of motor. The motor has been modeled with a new approach to the SMA wire Hysteresis model. This model is simple and useful for real time control applications. Model is implemented using Simulink and used for the simulation of the motor. Generalization of the motor concept is done and motor up to 16 Phases are studied and the simulation results done using MATLAB are discussed. It could be observed that the torque generated by the motor increases with increased number of phases while the torque ripple reduces. The motor torque ripple is better for motor with odd number of phases due to its construction. Two methods of achieving servo motion are presented. The first method is Micro Stepping, consisting of controlling single phase temperature with a position feedback. The second method is Antagonistic Control of temperatures of phases with position feedback. Both the above methods use PID Controller with optical encoder feedback for position sensing. Performance of the actuator with step, ramp and triangle inputs has been simulated using Simulink and verified experimentally for various loads and disturbances. Positional accuracy of 0.07% for the Step input and for the full rotation of 3600 is achieved. Vector Control of SMA Motor is presented. By this method Speed and the torque of the motor will be effectively controlled. Since the temperatures of the wires are controlled in this research, this method is named as Thermal Space Phasor or Vector Based Control. This method of rotation of motor is simulated using Simulink and verified experimentally. Here the current through the SMA is controlled so as to get near sinusoidal variation in temperature. This leads to a near Sinusoidal variation of force. It is shown that by controlling the temperature of phases Sinusoidally with a phase shift of 1200, the Resultant Force will be a constant over the Spatial angle of 3600 and its Velocity of rotation will be Constant. Open loop and closed loop control of the speed and torque is presented. While the motor rotates at fixed Speed and Torque in Open Loop Control, motor adopts to change in torque and velocity in Closed Loop control with reduced ripple. PID Controller is used for closed loop control. The presented rotary actuator and their experimental results set a new standard for SMA based new generation rotary actuators and control.

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