KaydedilenlerDerginizi ekleyin

Dergiler / Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi / 2025 / Cilt: 40 Sayı: 4

Bir şekil bellek alaşım (ŞBA) telin faz değişimi bakımından üç özel bölgede ve değişken yük altında deneysel denetimi

Eray Teoman Önder, Bilsay Sümer, Selahattin Çağlar Başlamışlı

Sayfa
2652–2674
Yayın Tarihi
2025-12-31
🏛️Bu makalenin bibliyografik verileri ve tam metin bağlantısı DergiPark üzerinden sağlanmıştır.
DergiPark Kaydı ↗

Özet

Şekil bellek alaşım (ŞBA) teller, hacmine göre yüksek enerji üretim kapasiteleriyle eyleycilerde sıkça kullanılmaktadır. Isıtıldıkarında martensit fazdan östenit faza geçerken, ürettikleri kuvvetle, verilmiş ön gerinimi geri kazanarak iş yaparlar. Isınmayla soğuma, aynı sıcaklık-gerinim yolunu takip etmez ve gecikme oluşur. Gecikme yüklemeyle değişir; zira, faz geçiş sıcaklıkları değişmektedir. Isınırken soğutma, soğurken ısıtma durmunda, faz geçişi tamamlanmamışsa, tam gecikme eğrisi içinde, küçük gecikme eğrileri oluşur. Bu termomekanik davranış nedeniyle, gerinim, mesafe talebine göre denetlenmek istendiğinde zorlanılmaktadır. Denetleyci kazançlarını belirlemek için bir model oluşturmak kolay değildir. Kazançlarının deneysel olarak belirlendiği pek çok denetleyici literatürde sınanmıştır. Farklı olarak, bu çalışmada büyük ölçüde martensit, faz geçişi ve büyük ölçüde östenit gecikme eğrisi olmak üzere kritik üç bölgede denetleyci başarımı değerlendirilmiştir. PI (oransal-integral) denetleyici başarımı yüksek bulunmuştur. Genel olarak kararlılık bozucu etki gözlemlenmezken, sinüs referans sinyalinin frekansı yükseldiğinde dahi, takibin sürdüğü tespit edilmiştir. Takip hata analizi yapılmış, en yüksek gerinim talebinde ve faz değiştirme bölgesinde, özellikle yüksek frekanslı gerinim referansında, hatanın yükseldiği gösterilmiştir. Denetleyicinin tüm sonuçlar için gürbüz olduğu bulgulanmıştır. Üç bölgedeki referans takibinin iyileştirmesinin farklı kazançlı denetleyicler arasında kararlılığı koruyan bir kazanç geçişiyle sağlanabileceğine dair ön bilgi oluşturması açısından da çalışma değerlidir. Denetleyicinin, zamanla değişen yükleme, bozucu etki olarak verildiğinde de gürbüz denetim sağlamıştır.

Anahtar kelimeler
🔖

Bu Makaleye Atıf Yap

Önder, E. T., Sümer, B., Başlamışlı, S. Ç. (2025). Bir şekil bellek alaşım (ŞBA) telin faz değişimi bakımından üç özel bölgede ve değişken yük altında deneysel denetimi. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi, Cilt: 40 Sayı: 4, 2652–2674. https://doi.org/10.17341/gazimmfd.1529527

📄 Tam Metin PDF Okuyucu

↗Yeni Sekme

PDF belgesi yükleniyor...

Kaynakça (63)

  1. 1. Lagoudas D.C., Shape memory alloys: modeling and engineering applications, 1st ed., Springer Science and Business Media, LLC, New York, A.B.D., 2008.
  2. 2. Barbarino S., Flores E. S., Ajaj R. M., Dayyani I. and Friswell M. I., A review on shape memory alloys with applications to morphing aircraft. Smart materials and structures, 23 (6), 063001, 2014.
  3. 3. Epps, J. J., and Chopra, I., In-flight tracking of helicopter rotor blades using shape memory alloy actuators. Smart Materials and Structures, 10 (1), 104, 2001.
  4. 4. Sellitto A. and Riccio A., Overview and future advanced engineering applications for morphing surfaces by Shape Memory Alloy Materials, Materials, 12 (5), 2019.
  5. 5. Koç İ. M., Eray T., Sümer B. and Çerçi N., An active force controlled laparoscopic grasper by using a smart material actuation, Tribology International, 100, 317–327, 2016.
  6. 6. Li, H., Liu, W., Wang, K., Kawashima, K. and Magid, E., A cable-pulley transmission mechanism for surgical robot with backdrivable capability, Rob. Comput. Integr. Manuf., 49, 328-334, 2018.
  7. 7. Veeramani, A. S., Buckner, G. D., Owen, S. B., Cook, R. C., and Bolotin, G., Modeling the dynamic behavior of a shape memory alloy actuated catheter, Smart Mater. Struct., 17 (1), 015037, 2008.
  8. 8. Hasnat A., Ahmed S.T., and Ahmed H., A review of utilizing shape memory alloy in structural safety, AIUB Journal of Science and Engineering, pages 116–125, 2020.
  9. 9. Mirzai N. M., Cho H.M., and Jong Wan Hu J. W., Experimental study of new axial recentering dampers equipped with shape memory alloy plates, Struct. Control Health Monit., 28 (3), 1–16, 2021.
  10. 10. Ozbulut O. E., Hurlebaus S., and Desroches R., Seismic response control using shape memory alloys: A review, J. Intell. Mater. Syst. Struct., 22 (14), 1531–1549, 2011.
  11. 11. Tabrizikahou, A., Hadzima-Nyarko, M., Kuczma, M., & Lozančić, S., Application of shape memory alloys in retrofitting of masonry and heritage structures based on their vulnerability revealed in the Bam 2003 earthquake, Materials, 14 (16), 4480, 2021.
  12. 12. Quintanar-Guzmán, S., Kannan, S., Aguilera-González, A., Olivares-Mendez, M. A., & Voos, H., Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study, J. Intell. Mater. Syst. Struct., 30 (9), 1368–1384, 2019.
  13. 13. Lee, J. H., Chung, Y. S., & Rodrigue, H., Long shape memory alloy tendon-based soft robotic actuators and implementation as a soft gripper, Scientific reports, 9 (1), 11251, 2019.
  14. 14. Kohl, M., Popp, M., & Krevet, B., Shape memory micromechanisms for microvalve applications. In Smart Structures and Materials 2004: Active Materials: Behavior and Mechanics, 5387, 106-117, SPIE, 2004.
  15. 15. Nespoli, A., Besseghini, S., Pittaccio, S., Villa, E., & Viscuso, S., The high potential of shape memory alloys in developing miniature mechanical devices: A review on shape memory alloy mini-actuators, Sensors and Actuators A: Physical, 158 (1), 149-160, 2010.
  16. 16. Jeong, J., Yasir, I. B., Han, J., Park, C. H., Bok, S. K., & Kyung, K. U., Design of shape memory alloy-based soft wearable robot for assisting wrist motion, Applied Sciences, 9 (19), 4025, 2019.
  17. 17. Park, S. J., & Park, C. H., Suit-type wearable robot powered by shape-memory-alloy-based fabric muscle, Scientific reports, 9 (1), 9157, 2019.
  18. 18. Ercis O., Keleş Ö., The investigation of open loop performance of electro-pneumatic control actuator system with air intake, Journal of the Faculty of Engineering and Architecture of Gazi University, 39 (4), 2329-2342, 2024
  19. 19. Kılıç E., Şekerci B., Kizilhan H., Başer Ö., Evaluation of position tracking control performance of a variable stiffness ankle exoskeleton robot with various controller types, Journal of the Faculty of Engineering and Architecture of Gazi University, 35 (3), 1551-1563, 2020.
  20. 20. Kılıç E., Başer Ö., Kızılhan H., EMG-based stiffness estimation of ankle joint and real-time implementation on a variable stiffness ankle exoskeleton robot, Journal of the Faculty of Engineering and Architecture of Gazi University, 36 (1), 225-240, 2020.
  21. 21. El-Atab, N., Mishra, R. B., Al-Modaf, F., et all, Soft actuators for soft robotic applications: A review, Adv. Intell. Syst., 2(10), 2000128, 2020.
  22. 22. Li, M., Pal, A., Aghakhani, A., Pena-Francesch, A., & Sitti, M., Soft actuators for real-world applications, Nat. Rev. Mater., 7 (3), 235-249., 2022.
  23. 23. Smith, C., Villanueva, A., Joshi, K., Tadesse, Y., & Priya, S., Working principle of bio-inspired shape memory alloy composite actuators, Smart Mater. Struct., 20 (1), 012001, 2010.
  24. 24. Ilami, M., Bagheri, H., Ahmed, R., Skowronek, E. O., & Marvi, H, Materials, actuators, and sensors for soft bioinspired robots, Adv. Mater., 33 (19), 2003139, 2021.
  25. 25. Ahmed, F., Waqas, M., Jawed, B., et all, Decade of bio-inspired soft robots: A review, Smart Mater. Struct., 31(7), 073002, 2022.
  26. 26. Patel, D. K., Huang, X., Luo, Y., Mungekar, M., Jawed, M. K., Yao, L., & Majidi, C., Highly dynamic bistable soft actuator for reconfigurable multimodal soft robots. Adv. Mater. Technol., 8 (2), 2201259, 2022.
  27. 27. Higueras-Ruiz, D. R., Shafer, M. W., & Feigenbaum, H. P., Cavatappi artificial muscles from drawing, twisting, and coiling polymer tubes, Sci. Rob., 6 (53), eabd5383, 2021.
  28. 28. Youn, J. H., Jeong, S. M., Hwang, G., Kim, H., Hyeon, K., Park, J., & Kyung, K. U., Dielectric elastomer actuator for soft robotics applications and challenge, Applied Sciences, 10 (2), 640, 2020.
  29. 29. Mukherjee, A., Ali, S. F., & Arockiarajan, A., Modeling of integrated shape memory alloy and Macro-Fiber Composite actuated trailing edge, Smart Mater. Struct., 29 (8), 085005, 2020.
  30. 30. Tyagi, M., Spinks, G. M., & Jager, E. W., 3D printing microactuators for soft microrobots, Soft Rob., 8 (1), 19-27, 2021.
  31. 31. Thalman, C., & Artemiadis, P., A review of soft wearable robots that provide active assistance: Trends, common actuation methods, fabrication, and applications, Wearable Technol., 1, 1–27, 2020.
  32. 32. Villoslada, A., Flores, A., Copaci, D., Blanco, D., & Moreno, L., High-displacement flexible shape memory alloy actuator for soft wearable robots, Rob. Auton. Syst., 73, 91-101, 2015.
  33. 33. Onder, E. T., Sümer B., Başlamışlı S. Ç., Development of a novel two-way 3D printed flexible spiral composite actuator based on shape memory alloy wire and its control, Smart Mater. Struct, 33 075011, 2024.
  34. 34. Wang, W., & Ahn, S. H., Shape memory alloy-based soft gripper with variable stiffness for compliant and effective grasping, Soft Rob., 4 (4), 379-389, 2017.
  35. 35. Chen, B., Shao, Z., Xie, Z., et all, Soft origami gripper with variable effective length, Adv. Intell. Syst., 3 (10), 2000251, 2021.
  36. 36. Banerjee, H., Pusalkar, N., & Ren, H., Single-motor controlled tendon-driven peristaltic soft origami robot, J. Mech. Rob., 10 (6), 064501, 2018.
  37. 37. Li, J., Godaba, H., Zhang, Z. Q., Foo, C. C., & Zhu, J., A soft active origami robot, Extreme Mech. Lett., 24, 30-37., 2018.
  38. 38. Liu, Q., Ghodrat, S., & Jansen, K. M., Design and modelling of a reversible shape memory alloy torsion hinge actuator, Mater. Des., 237, 112590, 2024.
  39. 39. Goergen, Y., Rizzello, G., & Motzki, P., Systematic Methodology for an Optimized Design of Shape Memory Alloy‐Driven Continuum Robots, Adv. Eng. Mater., 26 (2), 2301502, 2024.
  40. 40. Song, G., Chaudhry, V., & Batur, C., Precision tracking control of shape memory alloy actuators using neural networks and a sliding-mode based robust controller, Smart Mater. Struct, 12 (2), 223, 2023.
  41. 41. Abdullah, E. J., Soriano, J., Fernández de Bastida Garrido, I., & Abdul Majid, D. L., Accurate position control of shape memory alloy actuation using displacement feedback and self-sensing system, Microsyst. Technol., 27 (7), 2553-2566, 2021.
  42. 42. Abdullah, E. J., Gaikwad, P. S., Azid, N., Majid, D. A., & Rafie, A. M., Temperature and strain feedback control for shape memory alloy actuated composite plate, Sens. Actuators, A, 283, 134-140, 2018.
  43. 43. Lynch, B., Jiang, X. X., Ellery, A., & Nitzsche, F., Characterization, modeling, and control of Ni-Ti shape memory alloy based on electrical resistance feedback, J. Intell. Mater. Syst. Struct., 27 (18), 2489-2507, 2016. 44. Awan, A. U., Park, J., Kim, H. J., Ryu, J., & Cho, M., Adaptive control of a shape memory alloy actuator using neural-network feedforward and RISE feedback, Int. J. Precis. Eng. Manuf., 17, 409-418, 2016.
  44. 45. Selden, B., Cho, K., & Asada, H. H., Segmented shape memory alloy actuators using hysteresis loop control, Smart Mater. Struct., 15 (2), 642, 2006.
  45. 46. Elahinia, M. H., Ashrafiuon, H., Ahmadian, M., & Tan, H., A temperature-based controller for a shape memory alloy actuator, ASME J. Vib. Acoust., 127 (3), 285–291, 2005.
  46. 47. Jokar, M., Ayati, M., Yousefi-Koma, A., & Basaeri, H., Experiment-based hysteresis identification of a shape memory alloy–embedded morphing mechanism via stretched particle swarm optimization algorithm, J. Intell. Mater. Syst. Struct., 28 (19), 2781-2792, 2017.
  47. 48. Nakshatharan, S. S., Dhanalakshmi, K., & Ruth, D. J. S., Fuzzy based sliding surface for shape memory alloy wire actuated classical super-articulated control system, Appl. Soft Comput., 32, 580-589, 2015.
  48. 49. Rahman, S. M., Ahn, K. K., & Anh, H. P. H., A comparative study of position control of a sma actuated manipulator, In 2008 Second International Conference on Communications and Electronics, 29-32, IEEE, 2008.
  49. 50. Yousefian, R., Kia, M. A., & Zadeh, M. H., Sensorless resistive-based control of shape memory alloy actuators in locking mechanism, J. Intell. Mater. Syst. Struct, 26 (4), 450-462. 2015.
  50. 51. Gómez-Espinosa, A., Castro Sundin, R., Loidi Eguren, I., Cuan-Urquizo, E., & Treviño-Quintanilla, C. D., Neural network direct control with online learning for shape memory alloy manipulators, Sensors, 19 (11), 2576. 2019.
  51. 52. Lan, C. C., & Fan, C. H., An accurate self-sensing method for the control of shape memory alloy actuated flexures, Sens. Actuators, A, 163 (1), 323-332. 2010.
  52. 53. Ma, N., Song, G., & Lee, H. J., Position control of shape memory alloy actuators with internal electrical resistance feedback using neural networks, Smart Mater. Struct., 13 (4), 777, 2004.
  53. 54. Liu, S. H., Huang, T. S., & Yen, J. Y., Tracking control of shape-memory-alloy actuators based on self-sensing feedback and inverse hysteresis compensation, Sensors, 10 (1), 112-127, 2009.
  54. 55. Briggs, J. P., & Ostrowski, J. P., Experimental feedforward and feedback control of a one-dimensional SMA composite. Smart Mater. Struct., 11 (1), 9, 2002.
  55. 56. Mersch, J., Keshtkar, N., Grellmann, H., et all, Integrated temperature and position sensors in a shape-memory driven soft actuator for closed-loop control, Materials, 15 (2), 520, 2022.
  56. 57. Du, H., Li, G., Sun, J., Zhang, Y., Bai, Y., Qian, C., & Liang, Y., A review of shape memory alloy artificial muscles in bionic applications, Smart Mater. Struct., 2023.
  57. 58. Liu, R., Zheng, H., Hliboký, M., Endo, H., Zhang, S., Baba, Y., & Sawada, H., Anatomically-Inspired Robotic Finger with SMA Tendon Actuation for Enhanced Biomimetic Functionality, Biomimetics, 9 (3), 151, 2024.
  58. 59. Andreyeva, K., MacRae, G., Migeon, N., Nicol, T., Cros-Coitton, M., & Barnhart, D., Mobility of a Soft Conformable Multi-Limbed Robot Actuated by Shape Memory Alloy Wires, In 2024 IEEE Aerospace Conference (pp. 1-9), IEEE., 2024.
  59. 60. Zhu, Y., Jia, Z., Niu, X., & Dong, E., Design and Position Control of a Bionic Joint Actuated by Shape Memory Alloy Wires, Biomimetics, 9 (4), 210, 2024.
  60. 61. Sundareswari, M. B., Mozhi, G. T., & Dhanalakshmi, K., Adaptive Dual-Layer Sliding Mode Control for Ball on Plate System Driven by Shape Memory Alloy Wire, J. Inst. Eng. India Ser. B, 1-9, 2024.
  61. 62. Acevedo-Velazquez, A. I., Wang, Z., Winkler, A., Modler, N., & Röbenack, K., Manufacture and Deformation Angle Control of a Two-Direction Soft Actuator Integrated with SMAs, Materials, 17 (3), 758, 2024.
  62. 63. Shahir, M. M., Mirzaei, M., Farbodi, M., & Rafatnia, S., Extended state observer-based feedback linearization control of shape memory alloy actuator: design and experiment, Int. J. Dyn. Control, 1-12, 2023.
  63. 64. Nexmetal Corp., https://nexmetal.com/, 2024. Önder, E. T., Sümer, B., & Başlamışlı, S. Ç., Estimation of heat transfer model parameters by using recursive least square (RLS) method for a shape memory alloy wire, J. Intell. Mater. Syst. Struct., 34 (4), 379-392, 2023.
Bir şekil bellek alaşım (ŞBA) telin faz değişimi bakımından üç özel bölgede ve değişken yük altında deneysel denetimi — AJIndex