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Ii-Actuator zisetyenziswa kuyo yonke indawo kwaye zidala intshukumo elawulwayo ngokusebenzisa amandla okuvuselela achanekileyo okanye i-torque ukwenza imisebenzi eyahlukeneyo kwimveliso kunye ne-automation yemizi-mveliso.Isidingo sokuqhuba ngokukhawuleza, okuncinci kunye nokusebenza kakuhle kukuqhuba ukutsha kuyilo lokuqhuba.I-Shape Memory Alloy (SMA) drives inikezela ngenani leenzuzo ngaphezu kweedrive eziqhelekileyo, kubandakanywa umlinganiselo ophezulu wamandla ukuya kubunzima.Kolu dissertation, kwaphuhliswa i-actuator esekwe kwiintsiba ezimbini ze-SMA edibanisa iingenelo zezihlunu zentsiba zeenkqubo zebhayoloji kunye neempawu ezizodwa zee-SMAs.Olu phononongo luphonononga luze lwandise ii-activators ze-SMA zangaphambili ngokuphuhlisa imodeli yezibalo ye-activator entsha esekwe kulungiselelo lwe-bimodal lwe-SMA yocingo kunye nokuyivavanya ngokomfuniselo.Xa kuthelekiswa needrive ezaziwayo ezisekelwe kwi-SMA, amandla okuvuselela i-drive entsha ubuncinane ngamaxesha angama-5 aphezulu (ukuya kwi-150 N).Ukulahleka kwesisindo esihambelanayo malunga ne-67%.Iziphumo zohlalutyo lobuntununtunu beemodeli zemathematika ziluncedo ekulungiseni iiparamitha zoyilo kunye nokuqonda iiparamitha eziphambili.Olu phononongo lubonisa ngakumbi ukuqhubela phambili kwenqanaba le-Nth elinemigangatho emininzi elinokusetyenziswa ukuqhubela phambili uguquko.I-SMA-based dipvalerate actuators ye-muscle inoluhlu olubanzi lwezicelo, ukusuka kwisakhiwo esizenzekelayo ukuya kwiinkqubo ezichanekileyo zokuhanjiswa kweziyobisi.
Iinkqubo zebhayoloji, ezifana nezihlunu zezihlunu zezilwanyana ezanyisayo, zinokuvula iintshukumo ezininzi ezifihlakeleyo1.Izilwanyana ezanyisayo zinezihlunu ezahlukeneyo, ngasinye sisebenza ngenjongo ethile.Nangona kunjalo, uninzi lwesakhiwo sezicubu ze-mammalian muscle zingahlulwa zibe ngamacandelo amabini abanzi.I-Parallel kunye ne-pennate.Kwi-hamstrings kunye nezinye i-flexors, njengoko igama libonisa, i-musculature ye-parallel ine-fibers ye-muscle ehambelana ne-tendon ephakathi.Ikhonkco leentambo ze-muscle zidityaniswe kwaye zisebenze ngokudibanisa izicubu ezijikelezayo.Nangona ezi zihlunu kuthiwa zine-excursion enkulu (ipesenti yokunciphisa), amandla abo onke ama-muscle anqongophele kakhulu.Ngokwahlukileyo, kwi-triceps ithole muscle2 (i-lateral gastrocnemius (GL) i-3, i-gastrocnemius ye-medial (GM) i-4 kunye ne-soleus (SOL)) kunye ne-extensor femoris (quadriceps) i-5,6 i-pennate muscle tissue ifumaneka kwi-muscle7 nganye.Kwisakhiwo se-pinnate, iintambo ze-muscle kwi-musculature bipennate zikhona kumacala omabini e-tendon ephakathi kwii-oblique angles (ii-pinnate angles).I-Pennate ivela kwigama lesiLatini elithi "penna", elithetha "ipeni", kwaye, njengoko kuboniswe kumkhiwane.Isi-1 sinenkangeleko enjengentsiba.Imicu yemisipha ye-pennate imfutshane kwaye i-angled kwi-axis longitudinal ye-muscle.Ngenxa yesakhiwo se-pinnate, ukuhamba ngokubanzi kwezi zihlunu kuncitshisiwe, okukhokelela kumacandelo anqamlekileyo kunye ne-longitudinal yenkqubo yokunciphisa.Ngakolunye uhlangothi, ukusebenza kwezi zihlunu kukhokelela kumandla aphezulu emisipha ngenxa yendlela i-physiological cross-sectional area ilinganiswa ngayo.Ke ngoko, kwindawo enqamlezileyo, izihlunu zepennate ziya kuba namandla kwaye ziya kuvelisa amandla aphezulu kunezihlunu ezinemicu ehambelanayo.Imikhosi eveliswa yimicu yodwa ivelisa amandla emisipha kwinqanaba le-macroscopic kweso zicubu zomzimba.Ukongezelela, ineempawu ezikhethekileyo ezifana nokunciphisa ngokukhawuleza, ukukhuselwa kumonakalo owenziweyo, ukunyusa.Iguqula ubudlelwane phakathi kwegalelo lefiber kunye ne-muscle power output ngokuxhaphaza iimpawu ezizodwa kunye nobunzima bejometri yolungiselelo lwefiber ehambelana nemigca ye-muscle yesenzo.
Kubonisiwe imizobo ecwangcisiweyo yoyilo olukhoyo lwe-actuator esekwe kwi-SMA ngokunxulumene ne-bimodal muscular architecture, umzekelo (a), emele intsebenziswano ye-tactile force apho isixhobo esime ngesandla esisebenza ngeengcingo ze-SMA sixhonywe kwirobhothi enamavili amabini ezimeleyo ephathwayo9,10., (b) I-Robotic orbital prosthesis ene-antagonistally ibekwe i-SMA ye-spring-loaded orbital prosthesis.Isikhundla seso le-prosthetic silawulwa ngumqondiso ovela kwi-ocular muscle ye-eye11, (c) i-actuator ye-SMA ifanelekile kwizicelo eziphantsi kwamanzi ngenxa yokuphendula kwabo rhoqo kunye ne-bandwidth ephantsi.Kolu lungelelwaniso, ii-actuator ze-SMA zisetyenziselwa ukudala ukunyakaza kwamaza ngokulinganisa ukuhamba kweentlanzi, (d) ii-actuator ze-SMA zisetyenziselwa ukudala i-robot yokuhlola ipayipi encinci enokusebenzisa umgaqo wokunyakaza kwe-inch worm, elawulwa yintshukumo yeengcingo ze-SMA ngaphakathi kwetshaneli ye-10, (e) ibonisa ulwalathiso lwe-contraction ye-fibers ye-muscle kunye nokuvelisa i-contractile ye-muscle ye-fibers kunye nokuvelisa i-contractilemi ye-muscle kwi-gastroenter ye-gastroenter. kwi-pennate muscle structure.
Ii-Actuator ziye zaba yinxalenye ebalulekileyo yeenkqubo zoomatshini ngenxa yoluhlu olubanzi lwezicelo.Ke ngoko, imfuno yeedrive ezincinci, ezikhawulezayo kunye nezisebenzayo zibaluleke kakhulu.Ngaphandle kweenzuzo zabo, iidrive zemveli zibonakalise ukuba ziyabiza kwaye kudla ixesha ukuzigcina.I-Hydraulic kunye ne-pneumatic actuators zintsonkothile kwaye ziyabiza kwaye ziphantsi kokugqoka, iingxaki zokuthambisa kunye nokusilela kwecandelo.Ukusabela kwimfuno, kugxilwe ekuphuhliseni iindleko zokonga imali, ubungakanani obuphuculweyo kunye nee actuator ezisekwe kwimathiriyeli ekrelekrele.Uphando oluqhubekayo lujonge kwi-shape memory alloy (SMA) i-actuator elayishiweyo ukuhlangabezana nale mfuno.Ii-actuator ze-Hierarchical zikhethekile kuba zidibanisa ezininzi ii-actuator ezininzi kwi-geometrically complex scale scale subsystems ukubonelela ngokusebenza okwandisiweyo nokwandiswa.Kule nkalo, izicubu zomzimba zomntu ezichazwe ngasentla zibonelela ngomzekelo obalaseleyo we-multilayered actuation enjalo.Uphononongo lwangoku luchaza i-multi-level SMA drive kunye nezinto ezininzi zokuqhuba umntu ngamnye (iingcingo ze-SMA) ezilungelelaniswe ne-fiber orientations ekhoyo kwimisipha ye-bimodal, ephucula ukusebenza ngokubanzi kokuqhuba.
Eyona njongo ye-actuator kukuvelisa imveliso yamandla ngoomatshini njengokunyanzeliswa kunye nokufuduswa ngokuguqula amandla ombane.I-alloys yememori ye-shape yiklasi yezixhobo "ezihlakaniphile" ezinokubuyisela imilo yazo kumaqondo aphezulu.Ngaphantsi kwemithwalo ephezulu, ukonyuka kobushushu bocingo lwe-SMA kukhokelela ekubuyiselweni kobumbeko, okukhokelela kuxinzelelo oluphezulu lwamandla okusebenza xa kuthelekiswa nezixhobo ezahlukeneyo ezibotshelelwe ngokuthe ngqo.Kwangaxeshanye, phantsi kwemithwalo yoomatshini, ii-SMA ziba brittle.Ngaphantsi kweemeko ezithile, umthwalo we-cyclic unokufunxa kwaye ukhulule amandla omatshini, ubonisa utshintsho olubuyiswayo lwe-hysteretic shape.Ezi mpawu zikhethekileyo zenza ukuba i-SMA ilungele izinzwa, i-vibration damping kwaye ngakumbi ii-activators12.Unale nto engqondweni, kukho uphando oluninzi kwiidrive ezisekwe kwi-SMA.Kufuneka kuqatshelwe ukuba ii-actuator ezisekelwe kwi-SMA zenzelwe ukubonelela ngentshukumo yokuguqulela kunye nokujikeleza kwezicelo ezahlukeneyo13,14,15.Nangona ezinye ii-activators ezijikelezayo ziphuhlisiwe, abaphandi banomdla ngakumbi kwii-actuator zemigca.Ezi actuators zomgca zingahlulwa zibe ziintlobo ezintathu ze-actuator: enye-dimensional, displacement kunye ne-different actuators 16.Ekuqaleni, iidrive ezixutyiweyo zenziwa ngokudityaniswa ne-SMA kunye nezinye iidrive eziqhelekileyo.Umzekelo onjalo we-SMA-based hybrid linear actuator kukusetyenziswa kocingo lwe-SMA olunemoto ye-DC ukunika amandla aphumayo ajikeleze i-100 N kunye nokufuduswa okubalulekileyo17.
Olunye lophuhliso lokuqala kwiidrives ezisekwe ngokupheleleyo kwi-SMA yayiyi-SMA parallel drive.Ukusebenzisa iingcingo ezininzi ze-SMA, i-SMA-based parallel drive yenzelwe ukwandisa amandla okuqhuba ngokubeka zonke iingcingo ze-SMA18 ngokufanayo.Uxhulumaniso oluhambelanayo lwe-actuator alufuni kuphela amandla angaphezulu, kodwa lunciphisa amandla okuphuma kocingo olulodwa.Enye into engalunganga yee-actuator ezisekwe kwi-SMA kukuhamba okulinganiselweyo abanokufikelela.Ukusombulula le ngxaki, intambo yentambo ye-SMA yenziwe iqulathe umqadi oguquguqukayo wokunyusa ukufuduka kunye nokufezekisa intshukumo yomda, kodwa ayizange ivelise amandla aphezulu19.Izakhiwo ezithambileyo ezinokukhubazeka kunye namalaphu eerobhothi ezisekwe kwimilo yealloys yeenkumbulo ziye zaphuhliswa ngokuyintloko ukwenzela ukukhulisa impembelelo20,21,22.Ukusetyenziswa apho isantya esiphezulu sifunekayo, iimpompo eziqhutywa nge-compact ziye zaxelwa kusetyenziswa ii-SMA zefilimu ezincinci kwii-micropump eziqhutywa izicelo23.Ukuqhutywa rhoqo kwefilimu encinci ye-SMA inwebu yinto ephambili ekulawuleni isantya somqhubi.Ke ngoko, ii-motor ze-SMA zomgca zinempendulo engcono eguquguqukayo kune-SMA spring okanye iimotor zentonga.Iirobhothi ezithambileyo kunye netekhnoloji yokubamba zezinye iinkqubo ezimbini ezisebenzisa ii-actuator ezisekwe kwi-SMA.Umzekelo, ukubuyisela i-actuator esemgangathweni esetyenziswe kwi-25 N ye-space clamp, i-shape memory alloy parallel actuator 24 yaphuhliswa.Kwesinye imeko, i-actuator ethambileyo ye-SMA yenziwe ngokusekelwe kucingo olune-matrix edibeneyo ekwazi ukuvelisa amandla okutsala aphezulu angama-30 N. Ngenxa yeempawu zabo zomatshini, ii-SMA zikwasetyenziselwa ukuvelisa ii-activators ezilinganisa i-biological phenomena.Olunye uphuhliso olunjalo lubandakanya i-robot ye-12-cell eyi-biomimetic ye-earthworm-like organism kunye ne-SMA ukuvelisa intshukumo ye-sinusoidal kumlilo26,27.
Njengoko kukhankanyiwe ngaphambili, kukho umda kumandla aphezulu anokufunyanwa kwii-actuators ezikhoyo ezisekelwe kwi-SMA.Ukujongana nalo mbandela, olu phononongo lubonisa i-biomimetic bimodal muscle structure.Iqhutywa lucingo lwengxubevange yenkumbulo yokumila.Ibonelela ngenkqubo yokuhlela ebandakanya iingcingo zengxubevange yeemilo ezininzi.Ukuza kuthi ga ngoku, akukho zi-actuator ezisekwe kwi-SMA ezinoyilo olufanayo ziye zaxelwa kuncwadi.Le nkqubo iyingqayizivele kunye neveli esekelwe kwi-SMA yaphuhliswa ukuba ifunde ukuziphatha kwe-SMA ngexesha lokulungelelaniswa kwemisipha ye-bimodal.Xa kuthelekiswa nee actuators ezisekwe kwi-SMA ezikhoyo, injongo yolu phononongo yayikukudala i-biomimetic dipvalerate actuator ukuvelisa amandla aphezulu kakhulu kumthamo omncinci.Xa kuthelekiswa neemoto eziqhelekileyo eziqhutywa yi-stepper motor ezisetyenziswa kwi-HVAC yokwakha ezizenzekelayo kunye neenkqubo zolawulo, uyilo olucetywayo olusekwe kwi-bimodal drive ecetywayo ye-SMA yehlisa ubunzima besixhobo sokuqhuba ngama-67%.Kule ilandelayo, amagama athi "imisipha" kunye "nokuqhuba" asetyenziswa ngokungafaniyo.Olu phononongo luphanda ukulinganisa i-multifizikhi yolu kuqhuba.Ukuziphatha komatshini kwiinkqubo ezinjalo kufundwe ngeendlela zovavanyo kunye nokuhlalutya.Ukunyanzeliswa kunye nokuhanjiswa kweqondo lokushisa kuye kwaphandwa ngakumbi kwi-voltage yegalelo le-7 V. Emva koko, uhlalutyo lweparametric lwenziwa ukuze kuqondwe ngakumbi ubudlelwane phakathi kweeparitha eziphambili kunye namandla aphumayo.Okokugqibela, ii-activators ze-hierarchical ziye zabonwa kwaye iziphumo zenqanaba le-hierarchical ziye zacetywa njengendawo enokubakho yekamva yee-activators ezingezo-magnetic kwizicelo zeprosthetic.Ngokweziphumo zophononongo olukhankanywe ngasentla, ukusetyenziswa kolwakhiwo lwenqanaba elinye kuvelisa amandla aphindwe kane ukuya kahlanu ngaphezulu kunee actuators ezixeliweyo ze-SMA.Ukongeza, amandla afanayo okuqhuba oveliswa ngamanqanaba amaninzi amanqanaba amaninzi abonakaliswe ukuba aphindaphindwe kalishumi kwezo zokuqhuba ezisekelwe kwi-SMA eziqhelekileyo.Uphononongo ke lubika iiparamitha eziphambili zisebenzisa uhlalutyo lobuntununtunu phakathi koyilo olwahlukeneyo kunye neenguqu zegalelo.Ubude bokuqala bocingo lwe-SMA (\(l_0\)), i-angle ye-pinnate (\(\ alpha\)) kunye nenani lemicu enye (n) kwi-strand nganye inefuthe elibi elibi kubukhulu bamandla okuqhuba.amandla, ngelixa i-voltage yegalelo (amandla) yajika yadityaniswa ngokufanelekileyo.
Ucingo lwe-SMA lubonisa impembelelo yenkumbulo yokumila (SME) ebonwa kwi-nickel-titanium (Ni-Ti) yosapho lwealloys.Ngokuqhelekileyo, ii-SMA zibonisa izigaba ezibini ezixhomekeke kwiqondo lokushisa: isigaba sokushisa esiphantsi kunye nesigaba sokushisa okuphezulu.Zombini izigaba zineempawu ezizodwa ngenxa yobukho bezinto ezahlukeneyo zekristale.Kwinqanaba le-austenite (isigaba sokushisa esiphezulu) ekhoyo ngaphezu kweqondo lokushisa lokuguqulwa, izinto eziphathekayo zibonisa amandla aphezulu kwaye zikhubazeke kakubi phantsi komthwalo.I-alloy iziphatha njengensimbi engenasici, ngoko iyakwazi ukumelana noxinzelelo oluphezulu lwe-actuation.Ukuthatha inzuzo yale propati ye-Ni-Ti alloys, iingcingo ze-SMA zihlanjululwe ukuze zenze i-actuator.Iimodeli ezifanelekileyo zohlalutyo ziyaphuhliswa ukuqonda ubuchwephesha obusisiseko bokuziphatha kwe-SMA phantsi kwempembelelo yeeparamitha ezahlukeneyo kunye neejometri ezahlukeneyo.Isivumelwano esihle sifunyenwe phakathi kweziphumo zovavanyo kunye nohlalutyo.
Uphononongo lokulinga lwenziwe kwiprototype eboniswe kwi-Fig. 9a ukuvavanya ukusebenza kwe-bimodal drive esekelwe kwi-SMA.Ezimbini kwezi zakhiwo, amandla avelisiweyo yi-drive (amandla emisipha) kunye nobushushu bocingo lwe-SMA (ubushushu be-SMA), bulinganiswe ngokulinga.Njengoko i-voltage ye-voltage ikhula kunye nobude bonke bocingo kwi-drive, iqondo lokushisa locingo liyanda ngenxa yesiphumo sokufudumala kwe-Joule.I-voltage input isetyenziswe kwimijikelezo emibini ye-10-s (eboniswe njengamachaphaza abomvu kwi-Fig. 2a, b) kunye nexesha lokupholisa le-15 phakathi komjikelo ngamnye.Amandla okuthintela alinganiswa ngokusebenzisa i-piezoelectric strain gauge, kwaye ukuhanjiswa kweqondo lokushisa kwe-SMA wire kwajongwa ngexesha langempela kusetyenziswa ikhamera ye-LWIR yekhamera yezinga eliphezulu (jonga iimpawu zezixhobo ezisetyenziswe kwiThebhile 2).ibonisa ukuba ngexesha lesigaba sombane ophezulu, iqondo lokushisa locingo landa i-monotonically, kodwa xa kungekho okwangoku, ubushushu bocingo buqhubeka nokuwa.Kuseto lwangoku lokulinga, iqondo lobushushu bocingo lwe-SMA lehlile ngexesha lokupholisa, kodwa lalingaphezulu kobushushu be-ambient.Kwikhiwane.I-2e ibonisa i-snapshot yeqondo lokushisa kwi-SMA wire ethathwe kwikhamera ye-LWIR.Kwelinye icala, kumkhiwane.I-2a ibonisa amandla okuthintela oveliswa yinkqubo yokuqhuba.Xa amandla e-muscle edlula amandla okubuyisela entwasahlobo, ingalo ehambayo, njengoko kuboniswe kuMzobo 9a, iqala ukuhamba.Nje ukuba i-actuation iqale, ingalo eshukumayo idibana nenzwa, idala amandla omzimba, njengoko kubonisiwe kumkhiwane.2c, d.Xa ubushushu obuphezulu busondele kwi \(84\,^{\circ}\hbox {C}\), awona mandla ajongwe kakhulu yi-105 N.
Igrafu ibonisa iziphumo zovavanyo lobushushu bocingo lwe-SMA kunye namandla aveliswa yi-SMA-based bimodal actuator ngexesha lemijikelo emibini.I-voltage yegalelo isetyenziswe kwimijikelezo emibini ye-10 (eboniswe njengamachaphaza abomvu) kunye ne-15 yesibini epholileyo phakathi komjikelo ngamnye.Ucingo lwe-SMA olusetyenziselwe imifuniselo lwaluyi-0.51 mm ububanzi be-Flexinol wire ukusuka kwi-Dynalloy, Inc. i-napshot ethathwe kwi-SMA wire usebenzisa i-FLIR ResearchIR software yekhamera ye-LWIR.Iiparamitha zejometri ezithathelwe ingqalelo kwiimvavanyo zinikwe kwiThebhile.Nye.
Iziphumo zokulinganisa imodeli yemathematika kunye neziphumo zovavanyo zifaniswa phantsi kweemeko ze-voltage yegalelo le-7V, njengoko kuboniswe kwi-Fig.5.Ngokweziphumo zokuhlalutya i-parametric kwaye ukwenzela ukuba ugweme ukufudumala kwentambo ye-SMA, amandla e-11.2 W anikezelwe kwi-actuator.Ubonelelo lwamandla olucwangcisekileyo lweDC lusetyenziselwe ukubonelela nge-7V njengombane wombane, kwaye umsinga oyi-1.6A ulinganiswe ngaphaya kocingo.Amandla aveliswa yi-drive kunye nobushushu bokwanda kwe-SDR xa kusetyenziswa ngoku.Ngombane wegalelo le-7V, amandla aphezulu aphumayo afunyenwe kwiziphumo zokulinganisa kunye neziphumo zokulinga zomjikelezo wokuqala ngu-78 N kunye ne-96 N, ngokulandelanayo.Kumjikelo wesibini, amandla aphezulu okuvelisa ukulinganisa kunye neziphumo zovavanyo kwakuyi-150 N kunye ne-105 N, ngokulandelanayo.Umahluko phakathi kwemilinganiselo ye-occlusion force kunye nedatha yovavanyo inokuba ngenxa yendlela esetyenziselwa ukulinganisa amandla okuvalwa.Iziphumo zovavanyo eziboniswe kwifig.I-5a ihambelana nomlinganiselo wamandla okutshixa, okwathi kwalinganiswa xa i-drive shaft idibene nePACEline CFT/5kN piezoelectric force transducer, njengoko kubonisiwe kumkhiwane.2sNgoko ke, xa i-drive shaft ingadibanisi ne-sensor yamandla ekuqaleni kwendawo yokupholisa, amandla ngokukhawuleza abe yi-zero, njengoko kuboniswe kwi-Fig 2d.Ukongeza, ezinye iiparamitha ezichaphazela ukubunjwa kwamandla kwimijikelo elandelayo zixabiso lexesha lokupholisa kunye ne-coefficient yokudluliselwa kobushushu be-convective kumjikelo wangaphambili.Ukususela kwikhiwane.I-2b, kunokubonwa ukuba emva kwexesha lokupholisa okwesibini kwe-15, ucingo lwe-SMA aluzange lufikelele kwiqondo lokushisa kwaye ngoko libe nobushushu bokuqala obuphezulu (\(40\,^{\circ}\hbox {C}\)) kumjikelezo wesibini wokuqhuba xa kuthelekiswa nomjikelezo wokuqala (\(25\, ^{\circ}\hbox {C}\)).Ngaloo ndlela, xa kuthelekiswa nomjikelezo wokuqala, iqondo lokushisa locingo lwe-SMA ngexesha lomjikelezo wesibini wokufudumeza lifikelela kwiqondo lokushisa lokuqala le-austenite (\(A_s\)) ngaphambili kwaye lihlala kwixesha lokutshintsha ixesha elide, okubangela uxinzelelo kunye nokunyanzeliswa.Kwelinye icala, ukuhanjiswa kwamaqondo obushushu ngexesha lokufudumeza kunye nokupholisa imijikelo efunyenwe kwiimvavanyo kunye nokulinganisa kunomgangatho ophezulu wokufana kwimizekelo evela kuhlalutyo lwe-thermographic.Uhlalutyo oluthelekisayo lwedatha ye-thermal ye-SMA yocingo evela kwiimvavanyo kunye nokulinganisa kubonise ukuhambelana ngexesha lokufudumeza kunye nokupholisa imijikelo kunye nokunyamezela okwamkelekileyo kwidatha yovavanyo.Iqondo lokushisa eliphezulu le ntambo ye-SMA, ifunyenwe kwiziphumo zokulinganisa kunye novavanyo lomjikelo wokuqala, \ (c, \) \) \) \) kunye ne \ (83 \, ^Imodeli ephuhliswe ngokwesiseko iqinisekisa isiphumo sesiphumo senkumbulo yemilo.Indima yokukhathala kunye nokushisa ayizange ithathelwe ingqalelo kolu hlaziyo.Kwixesha elizayo, imodeli iya kuphuculwa ukubandakanya imbali yoxinzelelo lwentambo ye-SMA, eyenza ukuba ifaneleke ngakumbi kwizicelo zobunjineli.I-drive output force kunye ne-SMA yeqondo lokushisa elifunyenwe kwibhloko ye-Simulink ingaphakathi kokunyamezela okuvumelekileyo kwedatha yovavanyo phantsi komqathango we-voltage ye-voltage pulse ye-7 V. Oku kuqinisekisa ukuchaneka kunye nokuthembeka kwemodeli yezibalo eziphuhlisiwe.
Imodeli yemathematika yaphuhliswa kwindawo ye-MathWorks Simulink R2020b kusetyenziswa ii-equations ezisisiseko ezichazwe kwicandelo leNdlela.Kwikhiwane.I-3b ibonisa umzobo webhloko wemodeli yezibalo zeSimulink.Imodeli yayifaniswe kwi-7V ye-voltage input pulse njengoko kubonisiwe kwi-Fig. 2a, b.Amaxabiso eeparamitha ezisetyenzisiweyo ekufaniseni zidweliswe kwiThebhile 1. Iziphumo zokulinganisa iinkqubo ezidlulayo zichazwe kwiMifanekiso 1 kunye ne-1. Amanani 3a kunye ne-4. Kwifig.I-4a,b ibonisa amandla ombane afakwe kwi-SMA kunye namandla aveliswa yi-actuator njengomsebenzi wexesha. Ngexesha lokuguqulwa kwenguqu (ukufudumala), xa i-SMA iqondo lokushisa, \ ( T < A_s ^ {\ prime} \) (i-stress-modified austenite isigaba sokuqala seqondo lokushisa), izinga lokutshintsha kweqhezu le-martensite volume (\(\dot{\xi}\)) liya kuba zero. Ngexesha lokuguqulwa kwe-reverse (ukufudumala), xa i-SMA iqondo lokushisa, \ ( T < A_s ^ {\ prime} \) (i-stress-modified austenite isigaba sokuqala sobushushu), izinga lokutshintsha kweqhekeza levolumu ye-martensite (\(\dot{\ xi}\)) iya kuba yi-zero. Во время обратного превращения (нагрева), когда температура проволоки SMA, \(T < A_s^{\prime}\) (температура начала аустенитной модияценные фазинка сть изменения объемной доли мартенсита (\(\dot{\ xi }\)) будет равно нулю. Ngethuba lokuguqulwa kwe-reverse (ukufudumala), xa iqondo lokushisa locingo lwe-SMA, \ ( T < A_s ^ {\ prime} \) (i-stress-modified austenite ukuqala kweqondo lokushisa), izinga lokutshintsha kweqhekeza levolumu ye-martensite (\ (\ dot{\ xi }\ )) iya kuba yi-zero.在反向转变（加热）过程中，当SMA 线温度\(T < A_s^{\prime}\))积分数的变化率（\(\dot{\ xi }\)) 将为零。在 反向 转变 （加热） 中, 当 当 线 温度 \ (t При обратном превращении (нагреве) при температуре проволоки СПФ (T < A_s^{\prime}\) объемной доли мартенсита (\( \dot{\ xi }\)) будет равно нулю. Ngexesha lokuguqulwa kwe-reverse (ukufudumala) kwiqondo lokushisa locingo lwe-SMA \ ( T < A_s ^ {\ prime} \) (ubushushu be-nucleation yesigaba se-austenite, ukulungiswa koxinzelelo), izinga lokutshintsha kwiqhezu lomthamo we-martensite (\( \ dot{\ xi}\)) liya kufana ne-zero.Ngoko ke, izinga lokutshintsha koxinzelelo (\(\dot{\sigma}\)) liya kuxhomekeka kwiqondo loxinzelelo (\(\dot{\epsilon}\)) kunye neqondo lobushushu (\(\dot{T} \)) kuphela ngokusebenzisa i-equation (1).Nangona kunjalo, njengoko ucingo lwe-SMA lukhula kwiqondo lokushisa kunye nokuwela (\(A_s ^{\ prime}\)), isigaba se-austenite siqala ukwenza, kwaye (\(\dot{\xi}\)) ithathwa njengexabiso elinikiweyo le-equation (3).Ngoko ke, ireyithi yokutshintsha kwamandla ombane (\(\dot{\sigma}\)) ilawulwa ngokudibeneyo yi \(\dot{\epsilon}, \dot{T}\) kunye \(\dot{\xi}\) ilingana nokunikezelwa kwifomula (1).Oku kuchaza utshintsho lwe-gradient oluphawulwe kwixesha eliguquguqukayo loxinzelelo kunye neemephu zokunyanzelisa ngexesha lomjikelezo wokufudumala, njengoko kuboniswe kwi-Fig. 4a, b.
(a) Isiphumo sokulinganisa esibonisa ukuhanjiswa kweqondo lokushisa kunye noxinzelelo-olubangelwa ubushushu bejunction kwi-SMA-based divalerate actuator.Xa iqondo lobushushu ucingo iwela iqondo lobushushu austenite inguqu kwinqanaba zokufudumeza, inguqu austenite eguquguqukayo iqondo lobushushu iqala ukwanda, kwaye ngokufanayo, xa iqondo lobushushu ucingo uwela ubushushu benguqu martensitic kwinqanaba lokupholisa, iqondo lobushushu martensitic iyancipha.I-SMA yokuhlalutya imodeli yenkqubo ye-actuation.(Ukufumana imbono eneenkcukacha yenkqubo engaphantsi nganye yemodeli yeSimulink, jonga icandelo lesihlomelo lefayile eyongezelelweyo.)
Iziphumo zohlalutyo lweeparamitha ezahlukeneyo zokusasazwa ziboniswa kwimijikelezo emibini ye-voltage ye-7V yegalelo (i-10 ye-second warm up cycles kunye ne-15 yesibini ye-cool down cycles).Ngelixa u-(ac) kunye no-(e) bebonisa unikezelo ngokuhamba kwexesha, kwelinye icala, (d) kunye no-(f) bebonisa usasazo nobushushu.Kwiimeko zegalelo ezichaphazelekayo, uxinzelelo oluphezulu olujongwe yi-106 MPa (ngaphantsi kwe-345 MPa, amandla okuvelisa i-wire), amandla yi-150 N, ukufuduka okuphezulu ngu-270 µm, kunye ne-fraction ye-martensitic encinci yi-0.91.Ngakolunye uhlangothi, utshintsho kwixinzelelo kunye noshintsho kwi-volume fraction ye-martensite kunye nobushushu bufana neempawu ze-hysteresis.
Inkcazo efanayo iyasebenza ekuguquleni ngokuthe ngqo (ukupholisa) ukusuka kwisigaba se-austenite ukuya kwisigaba se-martensite, apho i-SMA yokushisa kwe-wire (T) kunye neqondo lokushisa lokugqibela le-stress-modified martensite phase (\ (M_f ^ {\ prime}\ )) lihle kakhulu.Kwikhiwane.I-4d, f ibonisa utshintsho kuxinzelelo olubangelwayo (\(\ sigma\)) kunye neqhezu lomthamo we-martensite (\(\xi\)) kwi-SMA wire njengomsebenzi wokutshintsha kweqondo lokushisa kwi-SMA wire (T), kuyo yomibini imijikelezo yokuqhuba.Kwikhiwane.Umzobo we-3a ubonisa utshintsho kwiqondo lokushisa locingo lwe-SMA kunye nexesha ngokuxhomekeke kwi-pulse voltage input.Njengoko kunokubonwa kumzobo, ubushushu bocingo buqhubeka bukhula ngokubonelela ngomthombo wobushushu kumbane we-zero kunye nokupholisa kwe-convective okulandelayo.Ngexesha lokufudumeza, ukuguqulwa kwe-martensite kwisigaba se-austenite kuqala xa i-SMA wire ye-wire (T) iwela iqondo lokushisa elichanekileyo le-austenite nucleation (\ (A_s ^ {\ prime} \)).Ngesi sigaba, ucingo lwe-SMA lucinezelekile kwaye i-actuator ivelisa amandla.Kwakhona ngexesha lokupholisa, xa iqondo lokushisa locingo lwe-SMA (T) liwela ukushisa kwe-nucleation ye-stress-modified martensite phase (\ (M_s ^ {\ prime} \)) kukho utshintsho oluhle ukusuka kwisigaba se-austenite ukuya kwisigaba se-martensite.amandla okuqhuba ayancipha.
Imiba ephambili yekhwalithi ye-bimodal drive esekelwe kwi-SMA inokufumaneka kwiziphumo zokulinganisa.Kwimeko yegalelo le-voltage pulse, iqondo lokushisa locingo lwe-SMA landa ngenxa yesiphumo sokufudumala kwe-Joule.Ixabiso lokuqala leqhezu lomthamo we-martensite (\(\xi\)) limiselwe ku-1, ekubeni izinto eziphathekayo ziqala kwisigaba se-martensitic ngokupheleleyo.Njengoko ucingo luqhubeka nokufudumala, ubushushu bocingo lwe-SMA budlula ubushushu boxinzelelo lwe-austenite nucleation \ (A_s ^ {\ prime} \), okubangela ukuhla kweqhekeza levolumu ye-martensite, njengoko kuboniswe kwi-Figure 4c.Ukongeza, kumkhiwane.I-4e ibonisa ukusabalalisa imivimbo ye-actuator ngexesha, kunye nomkhiwane.I-5 - amandla okuqhuba njengomsebenzi wexesha.Inkqubo ehambelanayo ye-equations ibandakanya ukushisa, i-martensite volume fraction, kunye noxinzelelo olukhula kwintambo, okubangelwa ukucutha kocingo lwe-SMA kunye namandla okwenziwa yi-actuator.Njengoko kubonisiwe kwifig.I-4d,f, ukuhluka kombane kunye nobushushu kunye ne-martensite umthamo weqhezu ukuhluka kunye nobushushu buhambelana neempawu ze-hysteresis ze-SMA kwimeko efanisiweyo kwi-7 V.
Ukuthelekiswa kweeparamitha zokuqhuba kufunyenwe ngokuvavanywa kunye nokubala okuhlalutyayo.Iingcingo zaziphantsi kwe-pulsed input voltage ye-7 V imizuzwana ye-10, emva koko zipholile imizuzwana ye-15 (isigaba sokupholisa) kwimijikelezo emibini.I-angle ye-pinnate imiselwe ku- \(40 ^{\ circ}\) kunye nobude bokuqala bocingo lwe-SMA kumlenze ngamnye we-pin ubekwe kwi-83mm.(a) Ukulinganisa amandla okuqhuba ngeseli yomthwalo (b) Ukubek' esweni ubushushu bocingo ngekhamera ye-infrared ye-thermal.
Ukuze uqonde impembelelo yeeparitha eziphathekayo kumandla oveliswa yi-drive, uhlalutyo lobuntununtunu bemodeli yeemathematika kwiiparamitha ezikhethiweyo zomzimba zenziwa, kwaye iiparitha zibekwe ngokwempembelelo yazo.Okokuqala, isampuli yeeparameters zemodeli zenziwe ngokusebenzisa imigaqo yoyilo lokulinga olulandela ukuhanjiswa okufanayo (jonga iCandelo eloNgezelelweyo kuHlalutyo lokuVavaleka).Kule meko, iiparamitha zemodeli zibandakanya i-voltage yegalelo (\(V_{in}\)), ubude bocingo lwe-SMA lokuqala (\(l_0\)), i-angle yenxantathu (\(\ alpha\)), i-bias spring constant (\( K_x\ )), i-coefficient yokudlulisa ubushushu be-convective (\(h_T\)) kunye nenani lamasebe alinganayo (n).Kwinqanaba elilandelayo, amandla e-muscle aphakamileyo akhethwe njengemfuneko yoyilo lokufunda kunye nemiphumo ye-parametric yesethi nganye yezinto eziguquguqukayo kumandla zifunyenwe.Iiplani ze-tornado zokuhlalutya ukuvakalelwa zithathwe kwi-coefficients yokulungelelanisa kwipharamitha nganye, njengoko kuboniswe kwi-Fig. 6a.
(a) Amaxabiso e-coefficient yokulungelelaniswa kweeparamitha zemodeli kunye nefuthe lazo kumandla aphezulu wokuphuma kwamaqela angama-2500 ahlukileyo ale parameters yemodeli engentla abonisiwe kwiploti yenkanyamba.Igrafu ibonisa ulungelelwaniso lwerenki lwezalathi ezininzi.Kucacile ukuba \(V_{in}\) yiparameter kuphela enonxulumano olulungileyo, kwaye \(l_0\) yiparameter enonxulumano olunegative ephezulu.Impembelelo yeeparamitha ezahlukeneyo kwiindibaniso ezahlukeneyo kumandla encopho yezihlunu ziboniswa ku (b, c).\(K_x\) ukusuka ku-400 ukuya kwi-800 N/m kunye noluhlu lwe-n ukusuka kwi-4 ukuya ku-24. I-Voltage (\(V_{in}\)) itshintshile ukusuka kwi-4V ukuya kwi-10V, ubude bocingo (\(l_{0} \)) itshintshile ukusuka kwi-40 ukuya kwi-100 mm, kunye ne-engile yomsila (\) (0) ukusuka kwi-engile yomsila (\) (0) ).
Kwikhiwane.I-6a ibonisa iploti yenkanyamba yee-coefficients ezihambelanayo ezahlukeneyo kwipharamitha nganye kunye neemfuno zoyilo lwamandla okuqhuba.Ukususela kwikhiwane.6a kunokubonwa ukuba iparameter ye-voltage (\(V_{in}\)) ihambelana ngokuthe ngqo kumandla aphezulu aphumayo, kunye ne-coefficient yokudlulisa ubushushu be-convective (\(h_T\)), i-flame angle (\ (\alpha\)) , i-spring displacement constant (\(K_x\)) ihambelana kakubi kunye nomthamo wemveliso kunye nenombolo yokuqala ye-SMA kunye nenombolo yokuqala ye-sMA kunye nobude be-modal () kunye nobude be-modal () kunye nenombolo yokuqala ibonisa ulungelelwaniso olunamandla oluphambeneyo Kwimeko yokulungelelanisa ngokuthe ngqo Kwimeko yexabiso eliphezulu le-voltage coefficient coefficient (\(V_ {in}\)) ibonisa ukuba le parameter inempembelelo enkulu kwimveliso yamandla.Olunye uhlalutyo olufanayo lulinganisa amandla aphakamileyo ngokuvavanya umphumo weeparamitha ezahlukeneyo kwiindibaniso ezahlukeneyo zeendawo ezimbini zokubala, njengoko kuboniswe kwi-Fig. 6b, c.\(V_{in}\) kunye \(l_0\), \(\alpha\) kunye \(l_0\) zineepateni ezifanayo, kwaye igrafu ibonisa ukuba \(V_{in}\) kunye \(\alpha\ ) kunye \(\alpha\) zineepateni ezifanayo.Amaxabiso amancinci \(l_0\) akhokelela kumandla aphezulu aphezulu.Ezinye iiplani ezimbini zihambelana noMzobo 6a, apho u-n kunye ne-\(K_x\) zihambelana kakubi kwaye \(V_{in}\) zihambelana ngokufanelekileyo.Olu hlalutyo lunceda ukucacisa kunye nokulungelelanisa iiparamitha ezichaphazelayo apho amandla okuphuma, ukubetha kunye nokusebenza kakuhle kwenkqubo yokuqhubela phambili kunokulungiswa kwiimfuno kunye nesicelo.
Umsebenzi wophando wangoku wazisa kwaye uphande iidrive zehierarchical ezinamanqanaba e-N.Kwinqanaba lamanqanaba amabini, njengoko kuboniswe kwi-Fig. 7a, apho endaweni yocingo ngalunye lwe-SMA lwe-actuator yenqanaba lokuqala, ilungiselelo le-bimodal liphunyeziwe, njengoko kuboniswe kumkhiwane.9e.Kwikhiwane.I-7c ibonisa indlela ucingo lwe-SMA olunxelwa ngayo malunga nengalo eshukumayo (ingalo encedisayo) ehamba kuphela kwicala le-longitudinal.Nangona kunjalo, ingalo yokuqala eshukumayo iyaqhubeka nokuhamba ngendlela efanayo nengalo eshukumayo yenqanaba loku-1 le-actuator enamanqanaba amaninzi.Ngokuqhelekileyo, i-N-stage drive yenziwe ngokutshintshela \ (N-1 \) isiteji se-SMA ucingo kunye nenqanaba lokuqala lokuqhuba.Ngenxa yoko, isebe ngalinye lixelisa inqanaba lokuqala lokuqhuba, ngaphandle kwesebe elibambe ucingo ngokwalo.Ngale ndlela, izakhiwo ezifakwe kwindlwane zinokubunjwa ezenza amandla amakhulu ngokuphindwe kaninzi kunezo zokuqhuba eziphambili.Kulo cwaningo, kwinqanaba ngalinye, ubude bentambo ye-SMA esebenzayo ye-1 m yathathwa ingqalelo, njengoko kuboniswe kwifomathi yetheyibhile kwi-Fig 7d.Umjelo ngocingo ngalunye kuyilo ngalunye olungaguqukiyo kunye nesiphumo se-prestress kunye ne-voltage kwicandelo ngalinye locingo lwe-SMA ziyafana kwinqanaba ngalinye.Ngokwemodeli yethu yokuhlalutya, amandla okuphuma ahambelana ngokufanelekileyo kunye nenqanaba, ngelixa ukufuduka kuhambelana kakubi.Ngelo xesha, kwakukho urhwebo phakathi kokufuduka kunye namandla omzimba.Njengoko kubonwa kwifig.7b, ngelixa awona mandla aphezulu aphunyezwa kwelona nani likhulu leeleya, ukufuduswa okukhulu kubonwa kwelonaleko lisezantsi.Xa inqanaba le-hierarchy libekwe \ ( N = 5 \ ), i-peak muscle force ye-2.58 kN ifunyenwe kunye ne-2 i-stroke ebonisiweyo \ (\ upmu \) m.Ngakolunye uhlangothi, inqanaba lokuqala lokuqhuba livelisa amandla e-150 N kwi-stroke ye-277 \ (\ upmu \) m.Ii-actuator zamanqanaba amaninzi ziyakwazi ukulinganisa izihlunu zokwenyani zebhayoloji, apho izihlunu ezenziweyo ezisekelwe kwimilo yealloys yememori ziyakwazi ukuvelisa amandla aphezulu kakhulu kunye neentshukumo ezichanekileyo nezicolekileyo.Ukuthintelwa kolu yilo oluncinci kukuba njengoko ulawulo lusanda, intshukumo iyancitshiswa kakhulu kwaye ubunzima benkqubo yokuvelisa i-drive yanda.
(a) Inqanaba elmbini (\(N=2\)) inkumbulo yemo yomaleko yealloyi yesixokelelwano somgca siboniswe kuqwalaselo lwe-bimodal.Imodeli ecetywayo iphunyezwa ngokutshintshwa kocingo lwe-SMA kwinqanaba lokuqala le-actuator enomaleko nenye i-actuator enenqanaba elinye.(c) Ubume obugwenxa benqanaba lesibini lesixhobo sokwenza izinto ezininzi.(b) Ukuhanjiswa kwemikhosi kunye nokufuduswa ngokuxhomekeke kwinani lamanqanaba kuchaziwe.Kufunyenwe ukuba amandla aphezulu e-actuator ahambelana ngokufanelekileyo kunye nenqanaba lesikali kwigrafu, ngelixa i-stroke ihambelana kakubi kunye nenqanaba lesikali.I-current and pre-voltage kwi-wire nganye ihlala ingatshintshi kuwo onke amanqanaba.(d) Itheyibhile ibonisa inani leetephu kunye nobude bocingo lwe-SMA (ifayibha) kwinqanaba ngalinye.Iimpawu zeengcingo ziboniswa ngesalathisi 1, kunye nenani lamasebe esibini (enye exhunywe kumlenze oyintloko) iboniswa ngenani elikhulu kwi-subscript.Umzekelo, kwinqanaba 5, \(n_1\) ibhekisa kwinani leengcingo ze-SMA ezikhoyo kwisakhiwo ngasinye se-bimodal, kwaye \(n_5\) ibhekisa kwinani lemilenze encedisayo (enye eqhagamshelwe kumlenze oyintloko).
Iindlela ezahlukeneyo ziye zacetywa ngabaphandi abaninzi ukuba benze imodeli yokuziphatha kwe-SMAs kunye nememori yokuma, exhomekeke kwiipropati ze-thermomechanical ezihamba notshintsho lwe-macroscopic kwisakhiwo sekristale esihambelana nokuguquka kwesigaba.Ukuqulunqwa kweendlela ezimiselweyo kuntsonkothile ngokwendalo.Eyona modeli ixhaphakileyo yephenomenological indululwa nguTanaka28 kwaye isetyenziswa kakhulu kwizicelo zobunjineli.Imodeli ye-phenomenological ecetywayo nguTanaka [28] ithatha ukuba iqhezu lomthamo we-martensite ngumsebenzi ocacileyo wokushisa kunye noxinzelelo.Kamva, uLiang noRogers29 kunye noBrinson30 bacebise imodeli apho i-dynamic transition dynamics yayicingelwa ukuba ngumsebenzi we-cosine we-voltage kunye nobushushu, kunye nokuguqulwa okuncinci kwimodeli.U-Becker noBrinson bacebise umzobo wesigaba esisekelwe kwimodeli yekinetic ukulinganisa ukuziphatha kwemathiriyeli ye-SMA phantsi kweemeko zokulayisha ngokungenamkhethe kunye notshintsho olungaphelelanga.I-Banerjee32 isebenzisa indlela ye-Bekker kunye ne-Brinson31 yesigaba se-diagram dynamics ukulinganisa idigri enye ye-manipulator yenkululeko ephuhliswe ngu-Elahinia kunye no-Ahmadian33.Iindlela zeKinetic ezisekelwe kwimizobo yesigaba, ezithathela ingqalelo utshintsho lwe-nonmonotonic kwi-voltage kunye nobushushu, kunzima ukuphumeza izicelo zobunjineli.U-Elakhinia kunye no-Ahmadian batsalela ingqalelo kwezi ntsilelo zemifuziselo ye-phenomenological ekhoyo kwaye bacebise imodeli ye-phenomenological eyandisiweyo ukuhlalutya kunye nokuchaza ukuziphatha kwememori yeemilo phantsi kwayo nayiphi na imeko enzima yokulayisha.
Imodeli yesakhiwo socingo lwe-SMA inika uxinzelelo (\(\sigma\)), uxinzelelo (\(\epsilon\)), ubushushu (T), kunye neqhezu levolumu ye-martensite (\(\xi\)) yocingo lwe-SMA.Imodeli ye-phenomenological constitutive yacetywa kuqala nguTanaka28 kwaye kamva yamkelwa nguLiang29 kunye neBrinson30.I-derivative ye-equation inalolu hlobo:
apho i-E ixhomekeke kwisigaba esixhomekeke kwimodyuli ye-SMA Young efunyenwe kusetyenziswa \(\displaystyle E=\xi E_M + (1-\xi )E_A\) kunye \(E_A\) kunye \(E_M\) emele imodyuli ye-Young's austenitic kunye nezigaba ze-martensitic, ngokulandelelana, kunye ne-coefficient ye-thermal emele ulwandiso (i-T\).Umba womnikelo wotshintsho lwesigaba ngu \(\Omega = -E \epsilon _L\) kunye \(\epsilon _L\) lolona xinzelelo luphezulu olufumanekayo kwi-SMA wire.
Isigaba se-dynamics equation singqamana nomsebenzi we-cosine ophuhliswe ngu-Liang29 kwaye kamva wamkelwa nguBrinson30 endaweni yomsebenzi we-exponential ocetyiswe nguTanaka28.Imodeli yenguqu yesigaba yokwandiswa kwemodeli ecetywayo ngu-Elakhinia kunye ne-Ahmadian34 kwaye iguqulelwe ngokusekelwe kwiimeko zenguqu zesigaba ezinikwe nguLiang29 kunye neBrinson30.Iimeko ezisetyenziselwa le modeli yenguqu yesigaba zivumelekile phantsi kwemithwalo enzima ye-thermomechanical.Ngomzuzu ngamnye wexesha, ixabiso le-volume fraction of martensite libalwa xa kusenziwa imodeli ye-equation constitutive.
I-equation retransformation elawulayo, echazwe ngokuguqulwa kwe-martensite kwi-austenite phantsi kweemeko zokufudumeza, ngolu hlobo lulandelayo:
apho \(\xi\) iqhezu umthamo martensite, \(\xi _M\) i iqhezu umthamo martensite efunyenwe phambi kokufudumeza, \(\displaystyle a_A = \pi /(A_f – A_s)\), \ ( \displaystyle b_A = -a_A/C_A\) kunye \(C_A\) - ijika (s) iqondo lobushushu, S_A / wire, iparamitha _xi (s) _f\) - isiqalo kunye nokuphela kwesigaba se-austenite, ngokulandelanayo, ubushushu.
I-equation yolawulo lwenguqu ngokuthe ngqo, emelwe yinguqu yesigaba se-austenite kwi-martensite phantsi kweemeko zokupholisa, yile:
apho \(\xi _A\) iqhezu lomthamo we-martensite efunyenwe phambi kokupholisa, \(\displaystyle a_M = \pi /(M_s – M_f)\), \(\displaystyle b_M = -a_M/C_M\) kunye \ ( C_M \) – igophe efanelekileyo iparameters, T – SMA ingcingo_M_ iqondo lobushushu, i-M_M_ iqondo lobushushu lokuqala, i-M_M (ubushushu bendawo) (i-M_M_) (ubushushu bokugqibela) (i-M_ wires, i-M_) ly.
Emva kokuba ii-equations (3) kunye (4) zahlulwe, i-equations eguqukileyo kunye ne-direct transformation equations yenziwa lula ngolu hlobo lulandelayo:
Ngexesha lenguqu eya phambili nasemva \(\eta _{\sigma}\) kunye \(\eta _{T}\) ithatha amaxabiso ahlukeneyo.Ii-equations ezisisiseko ezinxulunyaniswa ne \(\eta _{\sigma}\) kunye \(\eta _{T}\) ziye zathathwa zaxoxwa ngokubanzi kwicandelo elongezelelweyo.
Amandla ashushu afunekayo ukuphakamisa ubushushu bocingo lwe-SMA luvela kwisiphumo sokufudumala kweJoule.Amandla e-thermal afunnwe okanye akhutshwe yi-SMA ngocingo amelwe bubushushu obufihliweyo benguqu.Ilahleko yobushushu kwingcingo ye-SMA kungenxa yokuhanjiswa ngenkani, kwaye kunikwe isiphumo esingahoywayo sokusasazeka kwemitha, i-equation yamandla obushushu imi ngolu hlobo lulandelayo:
Apho \(m_{wire}\) ubunzima bubonke bocingo lwe-SMA, \(c_{p}\) ngumthamo wobushushu obuthile we-SMA, \(V_{in}\) ngumbane osetyenziswa kwingcingo, \(R_{ohm} \ ) - ukumelana nesigaba-sixhomekeke kwi-SMA, echazwe njenge;\(R_{ohm} = (l/A_{umnqamlezo})[\xi r_M + (1-\xi )r_A]\ ) apho \(r_M\ ) kunye \(r_A\) yi SMA isigaba resistivity kwi martensite kunye austenite, ngokulandelelanayo, \(A_{c}\) ngummandla womphezulu we SMA inkumbulo. Imemori ye-SMA.Ubushushu obufihliweyo benguqu yocingo, T kunye \(T_{\ infty}\) ngamaqondo obushushu ocingo lwe-SMA kunye nokusingqongileyo, ngokulandelanayo.
Xa ucingo lwengxubevange yenkumbulo yokumila lusebenza, ucingo luyaxinzelela, ludale amandla kwisebe ngalinye loyilo lwe-bimodal ebizwa ngokuba yi-fiber force.Amandla e-fibers kwi-strand nganye ye-SMA wire kunye nokudala amandla e-muscle ukuze asebenze, njengoko kuboniswe kwi-Fig. 9e.Ngenxa yobukho bomthombo ocalanye, amandla apheleleyo emisipha ye-Nth multilayer actuator yile:
Ukutshintsha \ (N = 1 \) kwi-equation (7), amandla emisipha yeprototype yokuqala ye-bimodal drive inokufumaneka ngolu hlobo lulandelayo:
apho i-n inani lemilenze ye-unimodal, \ (F_m\) yi-muscle force eyenziwa yi-drive, \​(F_f\) yi-fiber yamandla kwi-SMA wire, \(K_x\) yi-bias stiffness.intwasahlobo, \(\ alpha\) yi-engile kanxantathu, \(x_0\) yi-engile yokuqala ye-bias spring ukubamba intambo ye-SMA kwindawo egxininiswe ngaphambili, kwaye \(\Delta x\) yi-actuator yohambo.
Ukufuduka ngokupheleleyo okanye ukuhamba kwe-drive (\(\ Delta x\)) kuxhomekeke kumbane (\(\ sigma\)) kunye noxinzelelo (\(\epsilon\)) kwi-SMA yocingo lwenqanaba le-Nth, i-drive imiselwe (jonga umzobo inxalenye eyongezelelweyo yesiphumo):
I-equations kinematic inika ubudlelwane phakathi kwe-drive deformation (\(\epsilon\)) kunye nokufuduswa okanye ukufuduswa (\(\Delta x\)).Ukuguqulwa kocingo lweArb njengomsebenzi wobude bocingo lokuqala lweArb (\(l_0\)) kunye nobude bocingo (l) nangaliphi na ixesha t kwisebe elinye le-unimodal lungoluhlobo lulandelayo:
apho \(l = \sqrt{l_0^2 +(\Delta x_1)^2 – 2 l_0 (\Delta x_1) \cos \alpha _1}\) ifunyanwa ngokusebenzisa ifomyula ye-cosine ku- \(\Delta\) ABB ', njengoko kubonisiwe kuMfanekiso 8. Kwinqanaba lokuqala lokuqhuba (\)(N)\\\\\\\\\\\\\\\ (\" x\], (N = \\ Del), (N = \\ Del) x kwaye \(\ alpha _1\) yi \(\ alpha \) njengoko kubonisiwe kuMfanekiso 8, ngokwahlula ixesha kwiNxakaniso (11) kunye nokubeka endaweni yexabiso lika-l, izinga loxinzelelo lingabhalwa ngolu hlobo:
apho \(l_0\) bubude bokuqala bocingo lwe-SMA, l bubude bocingo nangaliphi na ixesha t kwisebe elinye le-unimodal, \(\epsilon\) ludeformation oluphuhliswe kucingo lwe-SMA, kwaye \(\ alpha \) yi-engile kanxantathu, \(\Delta x\) yi-offset yokuqhuba (njengoko kubonisiwe kuMfanekiso 8).
Zonke n izakhiwo ezinencochoyi enye (\(n=6\) kulo mzobo) ziqhagamshelwe kuthotho kunye \(V_{in}\) njengombane wokungenisa.Inqanaba I: I-Schematic diagram yocingo lwe-SMA kulungiselelo lwe-bimodal phantsi kweemeko zombane zero Inqanaba II: Isakhiwo esilawulwayo siboniswa apho ucingo lwe-SMA luxinzelelwe ngenxa yokuguqulwa kwenguqu, njengoko kuboniswe ngumgca obomvu.
Njengobungqina bengqiqo, i-SMA-based drive ye-bimodal yaphuhliswa ukuvavanya ukuveliswa kokulinganisa okusisiseko kunye neziphumo zovavanyo.Imodeli ye-CAD ye-bimodal linear actuator iboniswe kwifig.9a.Kwelinye icala, kumkhiwane.I-9c ibonisa uyilo olutsha olucetywayo loqhagamshelo olujikelezayo lweprismatic usebenzisa i-activator ye-SMA-based based actuator ene-bimodal structure.Amacandelo okuqhuba ayenziwe kusetyenziswa ukuvelisa okongeziweyo kwi-Ultimaker 3 Eyongeziweyo yomshicileli we-3D.Izinto ezisetyenziselwa ukuprintwa kwe-3D yamacandelo i-polycarbonate efanelekileyo kwizinto ezichasene nobushushu njengoko zinamandla, ziqinile kwaye zineqondo lokushisa eliphezulu leglasi (110-113 \ ( ^ {\ circ } \) C).Ukongezelela, i-Dynalloy, Inc. I-Flexinol i-memory memory alloy wire isetyenziswe kwiimvavanyo, kwaye izinto eziphathekayo ezihambelana nocingo lwe-Flexinol zisetyenziswe kwi-simulations.Iintambo ezininzi ze-SMA zicwangciswe njengemicu ekhoyo kwilungiselelo le-bimodal yemisipha ukufumana amandla aphezulu avelisiweyo ngama-actuator amaninzi, njengoko kuboniswe kwi-Fig. 9b, d.
Njengoko kubonisiwe kuMfanekiso 9a, i-engile ebukhali eyenziwe yingalo eshukumayo yocingo lwe-SMA ibizwa ngokuba yi-engile (\(\alpha\)).Ngeentsimbi ze-terminal ezincanyathiselwe kwiiclamps zasekhohlo nasekunene, ucingo lwe-SMA lubanjwe kwi-engile ye-bimodal efunwayo.Isixhobo se-bias spring esibanjwe kwisinxibelelanisi sasentwasahlobo senzelwe ukulungelelanisa amaqela ahlukeneyo okwandisa i-bias spring ngokwenani (n) le-SMA fibers.Ukongezelela, indawo yeendawo ezihambayo zenzelwe ukuba ucingo lwe-SMA lubonakaliswe kwindawo yangaphandle yokupholisa ukunyanzeliswa kwe-convection.Iipleyiti eziphezulu kunye nezantsi zendibano ekhutshwayo zinceda ukugcina ucingo lwe-SMA lupholile kunye ne-cutouts ekhutshiweyo eyenzelwe ukunciphisa ubunzima.Ukongezelela, zombini iziphelo zocingo lwe-CMA zigxininiswe kwii-terminals ezisekhohlo nasekunene, ngokulandelanayo, ngokusebenzisa i-crimp.I-plunger idityaniswe kwelinye icala lendibano eshukumayo ukugcina ukucoceka phakathi kwamacwecwe aphezulu nasezantsi.I-plunger iphinda isetyenziswe ekusebenziseni amandla okuthintela kwinzwa ngokuqhagamshelana nokulinganisa amandla okuthintela xa ucingo lwe-SMA lusebenza.
I-bimodal muscle structure SMA iqhagamshelwe ngombane kuthotho kwaye inikwe amandla ngegalelo lombane wepulse.Ngexesha lomjikelezo we-voltage pulse, xa i-voltage isetyenziswa kwaye ucingo lwe-SMA lufudunyezwa ngaphezu kobushushu bokuqala be-austenite, ubude bocingo kwi-strand nganye bufutshane.Oku kurhoxiswa kusebenze i-subassembly yengalo eshukumayo.Xa i-voltage yayiyi-zero kumjikelo ofanayo, ucingo olushushu lwe-SMA lwapholiswa ngaphantsi kweqondo lobushushu bomphezulu we-martensite, ngaloo ndlela lubuyela kwindawo yalo yokuqala.Ngaphantsi kweemeko zoxinzelelo lwe-zero, ucingo lwe-SMA luqala ukolulwa ngokuzimeleyo ngesiphethu se-bias ukufikelela kwimeko ye-martensitic edibeneyo.I-Screw, apho ucingo lwe-SMA ludlula khona, luhamba ngenxa yoxinzelelo olwenziwe ngokufaka i-voltage pulse kwi-SMA wire (i-SPA ifikelela kwisigaba se-austenite), esikhokelela ekusebenzeni kwe-lever ehambayo.Xa ucingo lwe-SMA luhlehlisiwe, intwasahlobo ye-bias idala amandla aphikisayo ngokwandisa ngakumbi intwasahlobo.Xa uxinzelelo kumbane we-impulse uba ngu-zero, ucingo lwe-SMA lukhula kwaye lutshintshe imilo yalo ngenxa yokupholisa ngenkani yokuhambisa, ukufikelela kwisigaba se-martensitic ephindwe kabini.
Inkqubo ye-actuator esekwe kwi-SMA ecetywayo ine-bimodal configuration apho iingcingo ze-SMA zijikwe.(a) ibonisa imodeli yeCAD yomfuziselo, ekhankanya amanye amacandelo kunye neentsingiselo zawo kumzekelo, (b, d) imele iprototype yovavanyo ephuhlisiweyo35.Ngelixa (b) ibonisa imbonakalo ephezulu yeprototype enoqhagamshelo lombane kunye nemithombo ecalanye kunye neegeyiji zoxinzelelo ezisetyenzisiweyo, (d) ibonisa imbono yembono yokuseta.(e) Idayagram ye-linear actuation system kunye neengcingo ze-SMA ezibekwe nge-bimodally nangaliphi na ixesha t, ebonisa indlela kunye nekhosi yefiber kunye namandla emisipha.(c) Uqhagamshelo olujikelezayo lwe-2-DOF lucetyiwe ukuba kusetyenziswe i-actuator esekwe kwi-SMA yeenqwelomoya ezimbini.Njengoko kubonisiwe, ikhonkco ihambisa intshukumo yomgca ukusuka kwi-drive ephantsi ukuya kwingalo ephezulu, idala uxhulumaniso olujikelezayo.Ngakolunye uhlangothi, ukunyakaza kweeprisms kufana nokuhamba kwe-multilayer yenqanaba lokuqala lokuqhuba.
Uphononongo lokulinga lwenziwe kwiprototype eboniswe kwi-Fig. 9b ukuvavanya ukusebenza kwe-bimodal drive esekelwe kwi-SMA.Njengoko kubonisiwe kuMfanekiso 10a, ukusetwa komfuniselo kuqulathe unikezelo lwamandla olucwangcisekileyo lweDC ukubonelela ngegalelo lombane kwiingcingo ze-SMA.Njengoko kubonisiwe kwifig.I-10b, i-piezoelectric strain gauge (PACEline CFT / 5kN) yayisetyenziselwa ukulinganisa amandla okuthintela usebenzisa i-Graphtec GL-2000 data logger.Idatha irekhodwa ngumamkeli ukuze kufundwe ngokuqhubekayo.Iigeji zoxinzelelo kunye ne-amplifiers yentlawulo zifuna unikezelo lwamandla rhoqo ukuvelisa isignali yombane.Izibonakaliso ezihambelanayo ziguqulwa zibe yimiphumo yamandla ngokweemvakalelo ze-piezoelectric force sensor kunye nezinye iiparameters njengoko kuchazwe kwiThebhile 2. Xa i-voltage pulse isetyenzisiwe, ukushisa kwe-SMA wire kwandisa, kubangela ukuba ucingo lwe-SMA lucinezele, olubangela ukuba i-actuator ivelise amandla.Iziphumo zovavanyo lokuphuma kwamandla emisipha nge-voltage input pulse ye-7 V iboniswe kumkhiwane.2a.
(a) Inkqubo ye-SMA-based linear actuator yamiselwa kuvavanyo lokulinganisa amandla aveliswa yi-activator.Iseli yomthwalo ilinganisa amandla okuthintela kwaye inikwe amandla ombane we-24 V DC.Ukuhla kombane we-7 V kuye kwasetyenziswa kubo bonke ubude bentambo kusetyenziswa i-GW Instek ecwangcisiweyo yobonelelo lombane lweDC.Ucingo lwe-SMA luyacutheka ngenxa yobushushu, kwaye ingalo eshukumayo idibana neseli yomthwalo kwaye isebenzise amandla okuthintela.Iseli yomthwalo iqhagamshelwe kwi-GL-2000 data logger kwaye idatha igcinwe kwinginginya ukuze kuqhutywe phambili.(b) Idayagram ebonisa ikhonkco lamacandelo okusetwa kovavanyo lokulinganisa amandla emisipha.
Iialloyi zeenkumbulo zokumila zichulumancile ngamandla obushushu, ke ngoko ubushushu buba yiparameter ebalulekileyo yokufunda ubume benkumbulo.Ngovavanyo, njengoko kubonisiwe kwi-Fig. 11a, umfanekiso we-thermal kunye nemilinganiselo yokushisa yenziwa kwi-prototype ye-SMA-based divalerate actuator.Umthombo weDC ocwangcisekileyo wasebenzisa amandla ombane kwiingcingo ze-SMA kulungiselelo lovavanyo, njengoko kubonisiwe kuMfanekiso 11b.Ukutshintsha kweqondo lokushisa kwentambo ye-SMA kulinganiswa ngexesha langempela usebenzisa isisombululo esiphezulu sekhamera ye-LWIR (FLIR A655sc).Umamkeli usebenzisa i-software ye-ResearchIR ukurekhoda idatha yokuqhubela phambili emva kokulungiswa.Xa i-voltage pulse isetyenziswa, ubushushu bocingo lwe-SMA buyanda, nto leyo ebangela ukuba ucingo lwe-SMA lucutheke.Kwikhiwane.Umzobo we-2b ubonisa iziphumo zovavanyo lobushushu bocingo lwe-SMA xa kuthelekiswa nexesha le-7V yokufaka i-voltage pulse.