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Actuators zikoreshwa ahantu hose kandi zikora ingendo zigenzurwa hakoreshejwe imbaraga zikwiye zo gushyushya cyangwa torque kugira ngo zikore ibikorwa bitandukanye mu nganda no mu buryo bwikora. Gukenera disiki zihuse, ntoya kandi zinoze ni uguteza imbere udushya mu gushushanya disiki. Disiki zo mu bwoko bwa Shape Memory Alloy (SMA) zitanga inyungu nyinshi kurusha disiki zisanzwe, harimo n'igipimo cyo hejuru cy'imbaraga hagati y'uburemere. Muri iyi nyandiko, hakozwe actuator ifite amababa abiri ihuza ibyiza by'imitsi y'ubwoya bw'uturemangingo tw'ibinyabuzima n'imiterere yihariye ya SMA. Ubu bushakashatsi busuzuma kandi bukagura actuators za SMA zabanje binyuze mu gukora icyitegererezo cya mibare cya actuator nshya ishingiye ku miterere ya bimodal SMA no kuyigerageza mu buryo bw'igerageza. Ugereranyije na disiki zizwi zishingiye kuri SMA, imbaraga zo gukora za disiki nshya ziri hejuru byibuze inshuro 5 (kugeza kuri 150 N). Kugabanya ibiro bihuye ni hafi 67%. Ibisubizo by'isesengura ry'uburyo bwo kwiyumvisha ibintu mu miterere y'imibare ni ingirakamaro mu guhindura ibipimo by'igishushanyo no gusobanukirwa ibipimo by'ingenzi. Ubu bushakashatsi bukomeza bugaragaza actuator y'urwego rwa Nth ishobora gukoreshwa mu kunoza imikorere. Imashini zikora imitsi zikoresha SMA zifite uburyo bwinshi bwo kuyikoresha, kuva ku bwubatsi bwikora kugeza ku buryo bwo gutanga imiti neza.
Sisitemu za biyoloji, nk'imiterere y'imitsi y'inyamabere, zishobora gukora actuators nyinshi zitoroshye1. Inyamabere zifite imiterere itandukanye y'imitsi, buri imwe ikora intego yihariye. Ariko, imiterere myinshi y'imitsi y'inyamabere ishobora kugabanywamo ibice bibiri binini. Parallel na penate. Mu mitsi y'inyamabere n'izindi flexors, nk'uko izina ribigaragaza, imitsi y'inyamabere ifite imitsi ijyanye n'imitsi yo hagati. Uruhererekane rw'imitsi y'inyamabere rufatanye kandi ruhuzwa n'imitsi iyikikije. Nubwo iyi mitsi bivugwa ko ifite urugendo rurerure (igabanuka ry'ijanisha), imbaraga zayo muri rusange z'imitsi ni nke cyane. Mu buryo bunyuranye, mu mitsi ya triceps calf2 (lateral gastrocnemius (GL)3, medial gastrocnemius (GM)4 na soleus (SOL)) na extensor femoris (quadriceps)5,6 imitsi y'inyamabere iboneka muri buri mitsi7. Mu miterere ya pinnate, imitsi y'imitsi iri mu mitsi ya bipennate iboneka ku mpande zombi z'imitsi yo hagati ku nguni z'inyuma (pinnate angles). Pennate ikomoka ku ijambo ry'Ikilatini "penna", risobanura "ikaramu", kandi, nk'uko bigaragara ku ishusho ya 1 ifite ishusho nk'iy'ubwoya. Udupira tw'imitsi ya penate tuba tugufi kandi dufatanye n'umurongo muremure w'imitsi. Bitewe n'imiterere ya pinnate, kugenda muri rusange kw'iyi mitsi kuragabanuka, bigatuma ibice bihinduranya n'ibirambuye mu nzira yo kugabanya. Ku rundi ruhande, gukora kw'iyi mitsi bituma imitsi ikomera cyane bitewe n'uburyo agace k'imitsi gapimwa. Kubwibyo, ku gace runaka k'imitsi, imitsi ya penate izaba ikomeye kandi izatanga imbaraga nyinshi kurusha imitsi ifite imitsi ihwanye. Imbaraga zikomoka ku mitsi imwe ku yindi zikora imbaraga z'imitsi ku rwego rwa macroscopic muri iyo mitsi. Byongeye kandi, ifite imiterere yihariye nko kugabanuka vuba, kurinda kwangirika kw'imitsi, no kugabanya imbaraga. Ihindura isano iri hagati y'ubwinjiriro bw'imitsi n'imbaraga z'imitsi binyuze mu gukoresha imiterere yihariye n'ubuhanga bw'imiterere y'imitsi ijyanye n'imitsi.
Hagaragajwe ibishushanyo mbonera by'imiterere y'imashini zikora zishingiye kuri SMA zijyanye n'imiterere y'imitsi ibiri, urugero (a), bigaragaza imikoranire y'imbaraga zo gukora aho igikoresho gifite ishusho y'intoki gikoreshwa n'insinga za SMA gishyirwa kuri roboti igendanwa ifite amapine abiri9,10. , (b) Imashini zikora zikora zikoresha roboti hamwe n'imashini zikora zikora zikozwe muri SMA zifite impera. Aho ijisho rikorera rigenzurwa n'ikimenyetso gituruka mu mitsi y'amaso y'ijisho11, (c) Imashini zikora zikoresha SMA ni nziza cyane mu gukoreshwa munsi y'amazi bitewe n'uko zikora inshuro nyinshi kandi zikaba nke. Muri ubu buryo, SMA actuators zikoreshwa mu gukora umuraba w’amazi hifashishijwe kwigana uko amafi agenda, (d) SMA actuators zikoreshwa mu gukora robo igenzura imiyoboro mito ishobora gukoresha ihame rya inch worm motion, igenzurwa n’ingendo z’insinga za SMA imbere mu muyoboro wa 10, (e) igaragaza icyerekezo cy’imitsi ifunganye kandi ikabyara imbaraga zo gufata mu mubiri, (f) igaragaza insinga za SMA zitondetse mu buryo bw’imitsi mu miterere y’imitsi ifunganye.
Imashini zikora ibikoresho bya mashini zabaye igice cy'ingenzi cya sisitemu za mekanike bitewe n'uburyo zikoreshwa mu buryo butandukanye. Kubwibyo, gukenera imashini nto, zihuse kandi zikora neza biba ingenzi cyane. Nubwo zifite ibyiza, imashini zikora ibikoresho gakondo zagaragaye ko zihenze kandi zitwara igihe kinini kuzibungabunga. Imashini zikora ibikoresho bya hydraulic na pneumatic ni ingenzi kandi zirahenze kandi zishobora kwangirika, ibibazo byo gusiga amavuta ndetse no kunanirwa kw'ibice. Mu rwego rwo gusubiza icyifuzo, hibandwa ku guteza imbere imashini zikora ibikoresho bihendutse, zinoze kandi ziteye imbere zishingiye ku bikoresho by'ubwenge. Ubushakashatsi buri gukorwa burimo kureba imashini zikora ibikoresho bya shape memory alloy (SMA) kugira ngo zihuze n'iki kibazo. Imashini zikora ibikoresho bya hierarchical ni umwihariko kuko zihuza imashini nyinshi zikora ibikoresho bitandukanye mu buryo bwa macro scale subsystems kugira ngo zitange imikorere yongerewe kandi yaguke. Muri urwo rwego, imitsi y'umuntu yavuzwe haruguru itanga urugero rwiza rw'imashini zikora ibikoresho byinshi. Ubushakashatsi buriho busobanura imashini zikora ibikoresho byinshi bya SMA zifite ibintu byinshi bya mashini (insinga za SMA) bihuye n'imiterere ya fibre iri mu mitsi ibiri, ibi bikaba binoza imikorere rusange ya mashini.
Intego nyamukuru ya actuator ni ugutanga ingufu za mekanike nko gukurura no kwimura ingufu z'amashanyarazi. Aloyi zo kwibuka imiterere ni ubwoko bw'ibikoresho "by'ubwenge" bishobora gusubiza imiterere yabyo ku bushyuhe bwinshi. Mu gihe cy'imitwaro myinshi, kwiyongera k'ubushyuhe bw'insinga ya SMA bituma habaho gusubirana imiterere, bigatuma ingufu nyinshi zikoreshwa ugereranije n'ibikoresho bitandukanye by'ubwenge bifatanye mu buryo butaziguye. Muri icyo gihe, mu gihe cy'imitwaro ya mekanike, SMA ziracika intege. Mu bihe bimwe na bimwe, umutwaro uhoraho ushobora gufata no kurekura ingufu za mekanike, ukagaragaza impinduka mu miterere ya hysteretic. Iyi miterere idasanzwe ituma SMA iba nziza kuri sensors, vibration damping na cyane cyane actuators12. Dukurikije ibi, hakozwe ubushakashatsi bwinshi kuri disiki zishingiye kuri SMA. Tugomba kumenya ko actuators zishingiye kuri SMA zagenewe gutanga uburyo bwo guhindura no kuzenguruka ku bikorwa bitandukanye13,14,15. Nubwo hari actuators zizunguruka zakozwe, abashakashatsi bashishikajwe cyane na actuators zigororotse. Izi actuators zishingiye ku murongo zishobora kugabanywamo ubwoko butatu bwa actuators: actuators z'icyiciro kimwe, displacement na differential actuators16. Mbere na mbere, disiki za hybrid zakozwe hamwe na SMA n'izindi disiki zisanzwe. Urugero rumwe nk'urwo rwa actuator ya hybrid linear hybrid ishingiye kuri SMA ni ugukoresha insinga ya SMA ifite moteri ya DC kugira ngo itange imbaraga zisohoka zigera kuri 100 N n'impinduka zikomeye17.
Imwe mu ntambwe za mbere zatewe mu miyoboro ishingiye kuri SMA ni SMA parallel drive. Hakoreshejwe insinga nyinshi za SMA, SMA-based parallel drive yagenewe kongera ubushobozi bw'ingufu za disiki binyuze mu gushyira insinga zose za SMA18 mu buryo bungana. Guhuza parallel kwa actuators ntibisaba gusa imbaraga nyinshi, ahubwo binagabanya imbaraga zo gusohora insinga imwe. Indi mbogamizi ya actuators ishingiye kuri SMA ni ingendo nke zishobora kugerwaho. Kugira ngo iki kibazo gikemuke, hakozwe umuyoboro wa SMA urimo umuyoboro woroshye woroshye kugira ngo wongere kwimuka no kugera ku ngendo zigororotse, ariko ntibyatanze imbaraga nyinshi19. Imiterere yoroshye yo guhindura imiterere n'imyenda bya robots bishingiye ku miterere y'imiterere byakozwe ahanini kugira ngo birusheho kwiyongera20,21,22. Ku bijyanye n'ikoreshwa aho umuvuduko mwinshi ukeneye, pompe zitwara imizigo zavuzwe hakoreshejwe SMAs za thin film kuri porogaramu zitwara imikorosikopi23. Ingano ya disiki ya thin film ya SMA ni ikintu cy'ingenzi mu kugenzura umuvuduko w'umushoferi. Kubwibyo, moteri za SMA linear zifite igisubizo cyiza kurusha moteri za SMA spring cyangwa rod. Roboti zoroshye n'ikoranabuhanga ryo gufata ni izindi porogaramu ebyiri zikoresha actuators zishingiye kuri SMA. Urugero, kugira ngo isimbuze actuator isanzwe ikoreshwa mu gice cy'ikirere cya 25 N, hakozwe actuator ihuza imiterere ya alloy memory parallel 24. Mu rundi rubanza, actuator yoroshye ya SMA yakozwe hashingiwe ku nsinga ifite matrix ishyizwemo ishobora gukora imbaraga ntarengwa zo gukurura 30 N. Bitewe n'imiterere yazo ya mekanike, SMA zikoreshwa kandi mu gukora actuators zigana ibintu bya biyoloji. Imwe muri izo ntambwe irimo roboti ifite uturemangingo 12, ikaba ari biomimetic y'ibinyabuzima bisa n'inzoka yo mu butaka hamwe na SMA kugira ngo ikore motion ya sinusoidal yo kurasa26,27.
Nkuko byavuzwe mbere, hari aho imbaraga ntarengwa zishobora kuboneka mu byuma bikoresha SMA bihari. Kugira ngo iki kibazo gikemuke, ubu bushakashatsi bugaragaza imiterere y'imitsi ya bimodal ya biomimetic. Iyobowe n'insinga ya alloy memory. Itanga uburyo bwo gushyira mu byiciro burimo insinga nyinshi za alloy memory. Kugeza ubu, nta byuma bikoresha SMA bifite imiterere isa byavuzwe mu nyandiko. Ubu buryo bwihariye kandi bushya bushingiye kuri SMA bwakozwe kugira ngo bwige imyitwarire ya SMA mu gihe cyo guhuza imitsi ya bimodal. Ugereranyije n'ibyuma bikoresha SMA bihari, intego y'ubu bushakashatsi kwari ugukora actuator ya bimodal dipvalerate kugira ngo itange imbaraga nyinshi cyane mu bunini buto. Ugereranyije n'ibikoresha bikoresha moteri isanzwe ikoreshwa muri HVAC building automation na control systems, igishushanyo cya SMA gishingiye kuri bimodal drive cyatanzwe kigabanya uburemere bw'uburyo bwo gutwara ho 67%. Mu bikurikira, amagambo "imitsi" na "drive" akoreshwa mu buryo butandukanye. Ubu bushakashatsi busesengura uburyo bwo kwigana ibintu byinshi bya mashini. Imyitwarire ya mashini ya sisitemu nk'izo yizwe hakoreshejwe uburyo bwo kugerageza no gusesengura. Ikwirakwizwa ry'imbaraga n'ubushyuhe byakozwe ubushakashatsi ku muvuduko w'ingufu wa 7 V. Nyuma yaho, hakozwe isesengura rya parametrike kugira ngo humve neza isano iri hagati y'ibipimo by'ingenzi n'imbaraga zisohoka. Amaherezo, hatekerejwe ku bipimo by'ingufu kandi ingaruka z'urwego rw'ingufu zatanzwe nk'agace gashoboka k'ingufu zidasanzwe za rukuruzi mu bikorwa by'inganda. Dukurikije ibyavuye mu bushakashatsi bwavuzwe haruguru, gukoresha imiterere y'icyiciro kimwe bitanga imbaraga zirenze nibura inshuro enye kugeza kuri eshanu kurusha izisanzwe zishingiye kuri SMA. Byongeye kandi, imbaraga zimwe zikomoka kuri disiki y'urwego rwinshi zagaragaye ko zikubye inshuro zirenga icumi ugereranyije n'izisanzwe zishingiye kuri SMA. Ubushakashatsi butanga raporo ku bipimo by'ingenzi hakoreshejwe isesengura ry'ubushishozi hagati y'imiterere itandukanye n'impinduka zinjiye. Uburebure bw'ibanze bw'insinga ya SMA (\(l_0\)), inguni ya pinnate (\(\alpha\)) n'umubare w'imigozi imwe (n) muri buri mugozi umwe bigira ingaruka mbi ku bunini bw'imbaraga ziyobora, mu gihe voltage yinjiye (ingufu) byagaragaye ko bifitanye isano nziza.
Insinga za SMA zigaragaza ingaruka zo kwibuka imiterere (SME) zigaragara mu muryango wa nickel-titanium (Ni-Ti). Ubusanzwe, SMA zigaragaza ibyiciro bibiri bishingiye ku bushyuhe: icyiciro cy'ubushyuhe buke n'icyiciro cy'ubushyuhe bwinshi. Ibyiciro byombi bifite imiterere yihariye bitewe n'imiterere itandukanye ya kristu. Mu cyiciro cya austenite (icyiciro cy'ubushyuhe bwinshi) kiba kiri hejuru y'ubushyuhe bwo guhinduka, ibikoresho bigaragaza imbaraga nyinshi kandi ntibihinduka neza iyo biremereye. Ingano ikora nk'icyuma kitagira umugese, bityo ikaba ishobora kwihanganira imbaraga nyinshi zo gukora. Ikoresheje iyi miterere ya Ni-Ti, insinga za SMA zigoramye kugira ngo zikore actuator. Ingero zikwiye zo gusesengura zakozwe kugira ngo zisobanukirwe imikorere y'ubushyuhe bwa SMA bitewe n'ibipimo bitandukanye n'ubumetero butandukanye. Habayeho ubwumvikane bwiza hagati y'ibyavuye mu igerageza n'isesengura.
Inyigo y’igerageza yakozwe ku ishusho ya 9a kugira ngo isuzume imikorere ya disiki ya bimodal ishingiye kuri SMA. Ibyiri muri ibi bintu, imbaraga zikomoka kuri disiki (imbaraga z’imitsi) n’ubushyuhe bw’insinga ya SMA (ubushyuhe bwa SMA), byapimwe mu buryo bw’igerageza. Uko itandukaniro ry’amashanyarazi ryiyongera mu burebure bwose bw’insinga muri disiki, ubushyuhe bw’insinga bwiyongera bitewe n’ingaruka zo gushyushya za Joule. Voltage yinjiye yakoreshejwe mu misemburo ibiri ya 10-s (igaragazwa nk’utudomo dutukura ku Ishusho ya 2a, b) hamwe n’igihe cyo gukonjesha cya 15-s hagati ya buri ruziga. Imbaraga zo gufunga zapimwe hakoreshejwe icyuma gipima ubushyuhe cya piezoelectric, kandi ikwirakwizwa ry’ubushyuhe bw’insinga ya SMA ryagenzuwe mu gihe nyacyo hakoreshejwe kamera ya LWIR yo mu rwego rwa siyansi (reba imiterere y’ibikoresho byakoreshejwe mu Imbonerahamwe ya 2). igaragaza ko mu gihe cy’amashanyarazi menshi, ubushyuhe bw’insinga bwiyongera mu buryo bumwe, ariko iyo nta muyaga urimo gutemba, ubushyuhe bw’insinga bukomeza kugabanuka. Mu igerageza ririho ubu, ubushyuhe bw'insinga ya SMA bwaragabanutse mu gihe cyo gukonjesha, ariko bwari bukiri hejuru y'ubushyuhe bwo mu kirere. Ku ishusho ya 2e hagaragara ishusho y'ubushyuhe ku nsinga ya SMA yakuwe kuri kamera ya LWIR. Ku rundi ruhande, ku ishusho ya 2a hagaragaza imbaraga zo guhagarika zikomoka kuri sisitemu yo gutwara. Iyo imbaraga z'imitsi zirenze imbaraga zo gusubiza inyuma z'isoko, ukuboko kwimuka, nk'uko bigaragara ku Ishusho ya 9a, bitangira kugenda. Iyo imbaraga zitangiye gukoreshwa, ukuboko kwimukana guhurira na sensor, bigatuma habaho imbaraga z'umubiri, nk'uko bigaragara ku ishusho ya 2c, d. Iyo ubushyuhe ntarengwa buri hafi ya \(84\,^{\circ}\hbox {C}\), imbaraga ntarengwa zabonetse ni 105 N.
Imbonerahamwe igaragaza ibyavuye mu igerageza ry’ubushyuhe bw’insinga ya SMA n’imbaraga zikomoka kuri actuator ya SMA ishingiye kuri bimodal mu ngendo ebyiri. Voltage y’inyongera ikoreshwa mu ngendo ebyiri z’amasegonda 10 (yerekanwe nk’utudomo dutukura) hamwe n’igihe cyo gukonjesha amasegonda 15 hagati ya buri ngendo. Insinga ya SMA yakoreshejwe mu igerageza yari insinga ya Flexinol ya 0.51 mm yavuye kuri Dynalloy, Inc. (a) Imbonerahamwe igaragaza imbaraga z’igerageza zabonetse mu ngendo ebyiri, (c, d) igaragaza ingero ebyiri zigenga z’imikorere y’ibikoresho bikoresha amaboko kuri transducer ya PACEline CFT/5kN piezoelectric force, (b) imbonerahamwe igaragaza ubushyuhe ntarengwa bw’insinga yose ya SMA mu ngendo ebyiri, (e) igaragaza ishusho y’ubushyuhe yafashwe ku nsinga ya SMA hakoreshejwe kamera ya FLIR ResearchIR LWIR. Ibipimo bya geometrike byafashwe mu igerageza bigaragazwa mu mbonerahamwe ya mbere.
Ibisubizo byo kwigana by’icyitegererezo cy’imibare n’ibyavuye mu igerageza bigereranywa hakurikijwe imiterere y’umuvuduko w’amashanyarazi wa 7V, nk’uko bigaragara ku Ishusho ya 5. Dukurikije ibyavuye mu isesengura rya parametric no kugira ngo hirindwe ko insinga ya SMA ishobora gushyuha cyane, ingufu za 11.2 W zahawe actuator. Ingufu za DC zishobora gukoreshwa mu gutanga 7V nk’umuvuduko w’amashanyarazi, kandi umuvuduko wa 1.6A wapimwe ku muvuduko. Imbaraga zakozwe n’umuvuduko n’ubushyuhe bwa SDR biriyongera iyo umuvuduko ukoreshejwe. Hamwe n’umuvuduko w’amashanyarazi wa 7V, imbaraga ntarengwa zo gusohora zabonetse mu byavuye mu igerageza n’ibyavuye mu igerageza ry’igerageza rya mbere ni 78 N na 96 N, uko bikurikirana. Mu igerageza rya kabiri, imbaraga ntarengwa zo gusohora z’igerageza n’ibyavuye mu igerageza zari 150 N na 105 N, uko bikurikirana. Itandukaniro riri hagati y’ibipimo by’imbaraga zo gufunga n’amakuru y’igerageza rishobora guterwa n’uburyo bwakoreshejwe mu gupima imbaraga zo gufunga. Ibisubizo by’igerageza bigaragara ku ishusho ya 1. 5a ihuye n'igipimo cy'imbaraga zo gufunga, byapimwe igihe umugozi w'imodoka wakoranaga na transducer ya PACEline CFT/5kN piezoelectric force, nk'uko bigaragara ku ishusho ya 2s. Kubwibyo, iyo umugozi w'imodoka udakorana na sensor y'imbaraga mu ntangiriro y'agace ko gukonjesha, imbaraga zihita ziba zeru, nk'uko bigaragara ku ishusho ya 2d. Byongeye kandi, ibindi bipimo bigira ingaruka ku miterere y'imbaraga mu ngeri zikurikiraho ni agaciro k'igihe cyo gukonjesha n'ikigereranyo cy'ihererekanya ry'ubushyuhe mu ngeri yabanje. Ku ishusho ya 2b, bigaragara ko nyuma y'igihe cyo gukonjesha cy'amasegonda 15, insinga ya SMA itageze ku bushyuhe bw'icyumba bityo ikaba yari ifite ubushyuhe bwinshi bw'ibanze (\(40\,^{\circ }\hbox {C}\)) mu ngeri ya kabiri yo gukonjesha ugereranije n'ingeri ya mbere (\(25\, ^{\circ}\hbox {C}\)). Bityo, ugereranije n'izunguruka rya mbere, ubushyuhe bw'insinga ya SMA mu gihe cy'izunguruka rya kabiri ry'ubushyuhe bugera ku bushyuhe bwa mbere bwa austenite (\(A_s\)) mbere kandi buguma mu gihe cy'impinduka igihe kirekire, bigatera umuvuduko n'imbaraga. Ku rundi ruhande, ikwirakwizwa ry'ubushyuhe mu gihe cy'izunguruka ry'ubushyuhe n'ubukonje ryavuye mu bushakashatsi no mu bushakashatsi rifite isano rikomeye n'ingero zo mu isesengura rya thermographic. Isesengura rigereranya ry'amakuru ashyushye y'insinga ya SMA yavuye mu bushakashatsi no mu bushakashatsi ryagaragaje ubwumvikane mu gihe cy'izunguruka ry'ubushyuhe n'ubukonje kandi mu buryo bwemewe bwo kwihanganira amakuru y'igerageza. Ubushyuhe ntarengwa bw'insinga ya SMA, bwavuye mu bisubizo byo kwigana n'igerageza ry'izunguruka rya mbere, ni \(89\,^{\circ }\hbox {C}\) na \(75\,^{\circ }\hbox {C }\, uko bikurikirana ), naho mu izunguruka rya kabiri ubushyuhe ntarengwa bw'insinga ya SMA ni \(94\,^{\circ }\hbox {C}\) na \(83\,^{\circ }\hbox {C}\). Icyitegererezo cyakozwe mu buryo bw'ibanze cyemeza ingaruka z'ingaruka zo kwibuka imiterere. Uruhare rw'umunaniro no gushyuha cyane ntirwatekerejweho muri iri suzuma. Mu gihe kizaza, icyitegererezo kizanozwa kugira ngo gishyiremo amateka y'imihangayiko y'insinga ya SMA, bityo kirusheho gukoreshwa mu buhanga. Imbaraga z'umuvuduko w'amashanyarazi n'imiterere y'ubushyuhe bwa SMA byakuwe muri Simulink block biri mu rugero rwemewe rw'amakuru y'igerageza mu gihe cy'umuvuduko w'amashanyarazi wa 7 V. Ibi byemeza ko icyitegererezo cyakozwe mu mibare ari cyo cyiza kandi cyizerwa.
Icyitegererezo cy'imibare cyakozwe mu buryo bwa MathWorks Simulink R2020b hakoreshejwe ingano y'ibanze yasobanuwe mu gice cy'Uburyo. Ku ishusho ya 3b hagaragara igishushanyo mbonera cy'icyitegererezo cy'imibare cya Simulink. Icyitegererezo cyakozwe ku muvuduko wa voltage yinjiye ya 7V nk'uko bigaragara ku ishusho ya 2a, b. Agaciro k'ibipimo byakoreshejwe muri simulation kanditswe ku mbonerahamwe ya 1. Ibisubizo byo kwigana inzira z'igihe gito bigaragazwa ku ishusho ya 1 na 1. Ishusho ya 3a na 4. Ku ishusho ya 4a, b hagaragara voltage yatewe mu nsinga ya SMA n'imbaraga zikomoka kuri actuator nk'igihe. Mu gihe cyo guhindura (gushyushya), iyo ubushyuhe bwa SMA, \(T < A_s^{\prime}\) (ubushyuhe bwa austenite butangira mu buryo bwa stress), igipimo cy'impinduka mu gice cy'ingano ya martensite (\(\dot{\xi }\)) kizaba zeru. Mu gihe cyo guhindura (gushyushya), iyo ubushyuhe bwa SMA, \(T < A_s^{\prime}\) (ubushyuhe bwa austenite butangira mu buryo bwa stress), igipimo cy'impinduka mu gice cy'ingano ya martensite (\(\dot{\ xi }\)) kizaba zeru. Во время обратного превращения (нагрева), когда маа провооки SMA, \ (T
(a) Ibisubizo byerekana uburyo ubushyuhe bukwirakwira n'ubushyuhe bw'aho ibintu bihurira buterwa n'umuvuduko mu gikoresho cya divalerate gishingiye kuri SMA. Iyo ubushyuhe bw'insinga burenze ubushyuhe bw'impinduka ya austenite mu cyiciro cyo gushyushya, ubushyuhe bw'impinduka ya austenite buhinduka butangira kwiyongera, kandi mu buryo nk'ubwo, iyo ubushyuhe bw'insinga burenze ubushyuhe bw'impinduka ya martensite mu cyiciro cyo gukonjesha, ubushyuhe bw'impinduka ya martensite buragabanuka. SMA yo gusesengura uburyo bwo gukora. (Kugira ngo ubone ibisobanuro birambuye kuri buri sisitemu y'icyitegererezo cya Simulink, reba igice cy'inyongera cya dosiye y'inyongera.)
Ibisubizo by'isesengura ry'ikwirakwizwa ry'ibipimo bitandukanye byerekanwe ku mizingo ibiri ya voltage yinjiye ya 7V (imizingo yo gushyushya amasegonda 10 n'imizingo yo gukonjesha amasegonda 15). Mu gihe (ac) na (e) berekana ikwirakwizwa uko igihe kigenda, ku rundi ruhande, (d) na (f) berekana ikwirakwizwa n'ubushyuhe. Ku bijyanye n'imizingo yinjiye, umuvuduko ntarengwa wagaragaye ni 106 MPa (munsi ya 345 MPa, imbaraga z'insinga), imbaraga ni 150 N, kwimuka ntarengwa ni 270 µm, naho igice gito cy'umuvuduko wa martensitic ni 0.91. Ku rundi ruhande, impinduka mu muvuduko n'impinduka mu gice cy'umuvuduko wa martensite hamwe n'ubushyuhe bisa n'imiterere ya hysteresis.
Ibisobanuro bimwe birareba impinduka zitaziguye (gukonjesha) kuva kuri phase ya austenite kugera kuri phase ya martensite, aho ubushyuhe bw'insinga ya SMA (T) n'ubushyuhe bwa nyuma bwa phase ya martensite yahinduwe na stress (\(M_f^{\prime}\ )) ari byiza cyane. Ku ishusho ya 4d,f yerekana impinduka mu stress iterwa (\(\sigma\)) n'igice cy'ingano ya martensite (\(\xi\)) mu nsinga ya SMA nk'uko bigenda ku ihinduka ry'ubushyuhe bw'insinga ya SMA (T), ku ngendo zombi zo gutwara. Ku ishusho ya 3a yerekana impinduka mu bushyuhe bw'insinga ya SMA uko igihe kigenda gihita bitewe n'ingufu zinjiye. Nkuko bigaragara ku ishusho, ubushyuhe bw'insinga bukomeza kwiyongera binyuze mu gutanga isoko y'ubushyuhe kuri zeru voltage no gukonjesha nyuma yaho. Mu gihe cyo gushyushya, gusubiramo kwa martensite mu cyiciro cya austenite bitangira iyo ubushyuhe bwa SMA (T) bunyuze mu bushyuhe bwa austenite bukosowe n'umuvuduko (\(A_s^{\prime}\)). Muri iki cyiciro, insinga ya SMA irakandamizwa maze actuator igatanga imbaraga. Nanone mu gihe cyo gukonjesha, iyo ubushyuhe bwa SMA (T) bunyuze mu bushyuhe bwa nucleation bwa phase ya martensite ihinduwe n'umuvuduko (\(M_s^{\prime}\)) haba impinduka nziza kuva kuri phase ya austenite kugera kuri phase ya martensite. Imbaraga zo gutwara ziragabanuka.
Ibintu by'ingenzi by'ingenzi bya disiki ya bimodal ishingiye kuri SMA bishobora kuboneka mu bisubizo bya simulation. Mu gihe cy'ingufu z'amashanyarazi, ubushyuhe bw'insinga ya SMA buriyongera bitewe n'ingaruka zo gushyushya za Joule. Agaciro k'ibanze k'igice cy'ingano ya martensite (\(\xi\)) gashyirwa kuri 1, kubera ko ibikoresho biba biri mu cyiciro cya martensite cyuzuye. Uko insinga ikomeza gushyuha, ubushyuhe bw'insinga ya SMA burenze ubushyuhe bwa austenite nucleation bwakosowe na stress \(A_s^{\prime}\), bigatuma igice cy'ingano ya martensite kigabanuka, nk'uko bigaragara ku Ishusho ya 4c. Byongeye kandi, ku ishusho ya 4e hagaragazwa ikwirakwizwa ry'imitsi ya actuator mu gihe, no ku ishusho ya 5 - imbaraga zitwara nk'igihe. Sisitemu ijyanye n'ibigereranyo irimo ubushyuhe, igice cy'ingano ya martensite, n'umuvuduko ubaho mu nsinga, bigatuma insinga ya SMA igabanuka n'imbaraga zikomoka kuri actuator. Nk'uko bigaragara ku ishusho ya Impinduka ya 4d, f, voltage hamwe n'ubushyuhe n'ingano ya martensite ingano hamwe n'ubushyuhe bihuye n'imiterere ya hysteresis ya SMA mu buryo bwakozwe kuri 7 V.
Kugereranya ibipimo byo gutwara byabonetse binyuze mu igerageza no mu mibare isesengura. Insinga zashyizwe kuri voltage yinjiye ya 7 V mu masegonda 10, hanyuma zikonjeshwa mu masegonda 15 (igihe cyo gukonjesha) mu ngendo ebyiri. Inguni ya pinnate ishyirwa kuri \(40^{\circ}\) kandi uburebure bw'insinga ya SMA muri buri kaguru kamwe ka pin bushyirwa kuri mm 83. (a) Gupima imbaraga zo gutwara hakoreshejwe akazu k'umutwaro (b) Gukurikirana ubushyuhe bw'insinga ukoresheje kamera ya infrared y'ubushyuhe.
Kugira ngo humve ingaruka z'ibipimo by'umubiri ku mbaraga zikorwa n'ikinyabiziga, hakozwe isesengura ry'uburyo icyitegererezo cya mathematike kigera ku bipimo by'umubiri byatoranijwe, kandi ibipimo byashyizwe ku rutonde hakurikijwe ingaruka zabyo. Ubwa mbere, icyitegererezo cy'ibipimo by'icyitegererezo cyakozwe hakoreshejwe amahame y'igerageza ry'igishushanyo mbonera cyakurikije ikwirakwizwa ry'ibintu bimwe (reba Igice cy'inyongera ku Isesengura ry'Ububasha). Muri iki kibazo, ibipimo by'icyitegererezo birimo voltage y'inyongera (\(V_{in}\)), uburebure bw'insinga ya SMA y'ibanze (\(l_0\)), inguni y'impandeshatu (\(\alpha\)), ihinduka ry'impeshyi (\( K_x\ )), coefficient yo kohereza ubushyuhe (\(h_T\)) n'umubare w'amashami amwe (n). Mu ntambwe ikurikiraho, imbaraga z'imitsi yatoranijwe nk'igisabwa mu isesengura ry'ubushakashatsi kandi ingaruka za buri tsinda ry'ibintu ku mbaraga zabonetse. Ibishushanyo bya tornado byo gusesengura uburyo bwo kumva byakuwe ku bipimo by'isano kuri buri gipimo, nk'uko bigaragara ku Ishusho ya 6a.
(a) Agaciro k'ibipimo by'imibanire y'ibipimo by'icyitegererezo n'ingaruka zabyo ku mbaraga ntarengwa z'umusaruro w'amatsinda 2500 yihariye y'ibipimo by'icyitegererezo byavuzwe haruguru bigaragazwa mu gishushanyo cy'inkubi y'umuyaga. Imbonerahamwe igaragaza isano y'urwego rw'ibipimo byinshi. Biragaragara ko \(V_{in}\) ari cyo gipimo cyonyine gifite isano nziza, naho \(l_0\) ni cyo gipimo gifite isano mbi cyane. Ingaruka z'ibipimo bitandukanye mu buryo butandukanye ku mbaraga z'imitsi yo hejuru zigaragazwa muri (b, c). \(K_x\) iri hagati ya 400 na 800 N/m na n iri hagati ya 4 na 24. Voltage (\(V_{in}\)) yahindutse kuva kuri 4V kugeza kuri 10V, uburebure bw'insinga (\(l_{0} \)) bwahindutse kuva kuri 40 kugeza kuri 100 mm, kandi inguni y'umurizo (\ (\alpha \)) yahindutse kuva kuri \ (20 - 60 \, ^ {\circ }\).
Ku ishusho ya 6a hagaragara ishusho y'inkubi y'umuyaga irimo coefficients zitandukanye za coefficients kuri buri parameter ifite ibisabwa mu gishushanyo cy'imbaraga zo gutwara. Ku ishusho ya 6a bigaragara ko parameter ya voltage (\(V_{in}\)) ifitanye isano itaziguye n'imbaraga ntarengwa zo gusohora, kandi coefficient yo kohereza ubushyuhe (\(h_T\)), inguni y'umuriro (\(\alpha\)), icyerekezo cy'impinduka zo kwimuka (\(K_x\)) ifitanye isano ribi n'imbaraga zo gusohora n'uburebure bw'ibanze (\(l_0\)) bw'insinga ya SMA, kandi umubare w'amashami amwe (n) ugaragaza coefficient ikomeye inverse. Mu gihe cy'isano ritaziguye, coefficient yo guhuza voltage (\(V_ {in}\)) igaragaza ko iyi parameter igira ingaruka nini ku musaruro w'ingufu. Irindi sesengura nk'iryo ripima imbaraga za coefficients zitandukanye mu buryo butandukanye bw'ahantu habiri ho kubara, nk'uko bigaragara ku ishusho ya 6b, c. \(V_{in}\) na \(l_0\), \(\alpha\) na \(l_0\) bifite imiterere isa, kandi imbonerahamwe igaragaza ko \(V_{in}\) na \(\alpha\) na \(\alpha\) bifite imiterere isa. Agaciro gato ka \(l_0\) gatuma habaho imbaraga nyinshi zo mu rwego rwo hejuru. Indi miterere ibiri ihuye n'Ishusho ya 6a, aho n na \(K_x\) bifitanye isano mbi na \(V_{in}\) bifitanye isano nziza. Iri sesengura rifasha gusobanura no guhindura ibipimo bigira ingaruka ku mbaraga zisohoka, stroke n'imikorere ya sisitemu yo gutwara bishobora guhuzwa n'ibisabwa n'ikoreshwa.
Ubushakashatsi buriho butangira kandi bugasuzuma imiyoboro y’urwego rw’ingufu ifite urwego rwa N. Mu buryo bw’urwego rw’urwego rubiri, nk’uko bigaragara ku Ishusho ya 7a, aho aho gukoresha buri muyoboro wa SMA w’umuyoboro w’urwego rwa mbere, haboneka uburyo bwo guhuza imiyoboro ibiri, nk’uko bigaragara ku ishusho ya 9e. Ku ishusho ya 7c hagaragaza uburyo umuyoboro wa SMA uzunguruka ukuboko kwimuka (ukuboko kw’inyongera) kugenda gusa mu cyerekezo cy’uburebure. Ariko, ukuboko kwimuka kw’ibanze gukomeza kugenda mu buryo bumwe n’ukuboko kwimuka kw’umuyoboro w’urwego rwa mbere rw’ingufu nyinshi. Ubusanzwe, umuyoboro wa N-stage ukorwa hagasimburwa umuyoboro wa \(N-1\) w’urwego rwa SMA n’umuyoboro w’urwego rwa mbere. Kubera iyo mpamvu, buri shami ryigana umuyoboro w’urwego rwa mbere, usibye ishami rifata umuyoboro ubwaryo. Muri ubu buryo, imiterere y’ibyatsi ishobora gukorwa ikora imbaraga zikubye inshuro nyinshi imbaraga z’imiyoboro y’ibanze. Muri ubu bushakashatsi, kuri buri rwego, uburebure bwose bw’umuyoboro wa SMA wa metero 1 bwaratekerejweho, nk’uko bigaragara mu buryo bw’imbonerahamwe ku Ishusho ya 7d. Umuvuduko w'amashanyarazi unyura muri buri nsinga muri buri gishushanyo kimwe n'umuvuduko uturuka kuri buri gice cy'insinga za SMA ni bimwe kuri buri rwego. Dukurikije icyitegererezo cyacu cy'isesengura, imbaraga zisohoka zifitanye isano nziza n'urwego, mu gihe ukwimuka kufitanye isano mbi. Muri icyo gihe, habayeho ihindagurika hagati yo kwimuka n'imbaraga z'imitsi. Nkuko bigaragara ku ishusho ya 7b, mu gihe imbaraga ntarengwa zigerwaho mu mubare munini w'ibice, ukwimuka gukomeye kugaragara mu cyiciro cyo hasi. Igihe urwego rw'urwego rwashyizwe kuri \(N=5\), imbaraga z'imitsi za 2.58 kN zabonetse hamwe n'imitsi 2 yabonetse \(\upmu\)m. Ku rundi ruhande, umuvuduko w'icyiciro cya mbere utanga imbaraga za 150 N ku muvuduko wa 277 \(\upmu\)m. Actuators z'urwego rwinshi zishobora kwigana imitsi nyayo y'ibinyabuzima, aho imitsi y'ubukorano ishingiye ku miterere y'imiterere ishobora gukora imbaraga nyinshi cyane hamwe n'ingendo nziza kandi nziza. Imbogamizi z'iyi miterere mito ni uko uko urwego rw'imikorere rugenda rwiyongera, ingendo zigabanuka cyane kandi uburyo bwo gukora imodoka burushaho kwiyongera.
(a) Sisitemu y'actuator ifite ibyiciro bibiri (\(N=2\)) igaragara mu buryo bw'imiterere ya bimodal. Icyitegererezo cyatanzwe kigerwaho hashingiwe ku gusimbuza insinga ya SMA muri actuator ifite ibyiciro bya mbere n'indi actuator ifite ibyiciro bimwe. (c) Imiterere idahinduka ya actuator ifite ibyiciro byinshi bya kabiri. (b) Ikwirakwizwa ry'imbaraga n'impinduka bitewe n'umubare w'urwego ryavuzwe. Byagaragaye ko imbaraga z'ikirenga za actuator zifitanye isano nziza n'urwego rw'ubunini ku gishushanyo, mu gihe stroke ifitanye isano idahuye n'urwego rw'ubunini. Umuvuduko w'amashanyarazi n'umuvuduko w'amashanyarazi muri buri nsinga bigumaho ku rwego rwose. (d) Imbonerahamwe igaragaza umubare w'amatapi n'uburebure bw'insinga ya SMA (fibre) kuri buri rwego. Ibiranga insinga bigaragazwa n'ikimenyetso cya 1, kandi umubare w'amashami y'inyongera (rimwe rihujwe n'ukuguru kw'ibanze) ugaragazwa n'umubare munini muri subscript. Urugero, ku rwego rwa 5, \(n_1\) yerekeza ku mubare w'insinga za SMA ziri muri buri miterere y'imirongo ibiri, naho \(n_5\) yerekeza ku mubare w'amaguru y'inyongera (imwe ifatanye n'ukuguru gukuru).
Hari uburyo butandukanye bwatanzwe n'abashakashatsi benshi kugira ngo bagaragaze imyitwarire ya SMAs hakoreshejwe ubwibukire bw'imiterere, bushingiye ku miterere ya thermomechanical ijyana n'impinduka za macroscopic mu miterere ya crystal ijyanye n'impinduka y'icyiciro. Uburyo bwo gukora ibintu bugoye cyane. Icyitegererezo cya phenomenological gikoreshwa cyane cyatanzwe na Tanaka28 kandi gikoreshwa cyane mu bikorwa by'ubuhanga. Icyitegererezo cya phenomenological cyatanzwe na Tanaka [28] gisa n'aho igice cy'ingano ya martensite ari imikorere y'ubushyuhe n'umuvuduko. Nyuma, Liang na Rogers29 na Brinson30 batanze icyitegererezo aho dynamics ya phase transition yafatwaga nk'imikorere ya cosine ya voltage n'ubushyuhe, hamwe n'impinduka nto kuri iyo modeli. Becker na Brinson batanze icyitegererezo cya kinetic gishingiye kuri phase diagram kugira ngo bagaragaze imyitwarire y'ibikoresho bya SMA mu bihe byo gushyira imizigo ku buryo butunguranye ndetse n'impinduka z'igice. Banerjee32 ikoresha uburyo bwa Bekker na Brinson31 diagram dynamics kugira ngo yigane urwego rumwe rw'ingufu zakozwe na Elahinia na Ahmadian33. Uburyo bwa Kinetic bushingiye ku mbonerahamwe y'icyiciro, bushingira ku mpinduka zidasanzwe mu muvuduko w'amashanyarazi hamwe n'ubushyuhe, biragoye gushyira mu bikorwa mu bikorwa by'ubuhanga. Elakhinia na Ahmadian bashyira imbere izi nenge z'ingero zisanzweho z'ibintu bifatika kandi batanga icyitegererezo cyagutse cy'ibintu bifatika kugira ngo basesengure kandi basobanure imiterere y'imiterere y'ibintu bifatika mu gihe cy'ibibazo bigoye.
Imiterere y'insinga ya SMA itanga umuvuduko (\(\sigma\)), ubushyuhe (\(\epsilon\)), ubushyuhe (T), n'igice cy'ingano ya martensite (\(\xi\)) by'insinga ya SMA. Icyitegererezo cy'ibintu byakozwe mu buryo bw'ikigereranyo cyatanzwe bwa mbere na Tanaka28 hanyuma gishyirwa mu bikorwa na Liang29 na Brinson30. Inkomoko y'ikigereranyo ifite ishusho:
aho E ari modulus ya SMA Young ishingiye ku cyiciro yabonetse hakoreshejwe \(\displaystyle E=\xi E_M + (1-\xi )E_A\) na \(E_A\) na \(E_M\) bigaragaza modulus ya Young ari austenitic na martensitic phases, kandi coefficient of thermal expansion igaragazwa na \(\theta _T\). Phase transition contribution factor ni \(\Omega = -E \epsilon _L\) na \(\epsilon _L\) niyo strain ntarengwa ishobora kugaruzwa mu mugozi wa SMA.
Igereranya ry’impinduka mu gice rihura n’imikorere ya kosine yakozwe na Liang29 hanyuma ikaza kwemezwa na Brinson30 aho kwemezwa na Tanaka28. Icyitegererezo cy’impinduka mu gice ni inyongera y’icyitegererezo cyatanzwe na Elakhinia na Ahmadian34 kandi cyahinduwe hashingiwe ku miterere y’impinduka mu gice yatanzwe na Liang29 na Brinson30. Imiterere ikoreshwa kuri iki cyitegererezo cy’impinduka mu gice irakurikizwa munsi y’imitwaro ikomeye ya thermomechanical. Kuri buri kanya k’igihe, agaciro k’igice cy’ingano cya martensite kabarwa iyo hakorwa icyitegererezo cy’impinduka.
Ingano y’impinduka mu mikorere y’impinduka, igaragazwa n’impinduka za martensite muri austenite mu gihe cy’ubushyuhe, ni iyi ikurikira:
aho \(\xi\) ari igice cy'ingano ya martensite, \(\xi _M\) ni igice cy'ingano ya martensite cyabonetse mbere yo gushyushya, \(\displaystyle a_A = \pi /(A_f – A_s)\), \( \displaystyle b_A = -a_A/C_A\) na \(C_A\) – ibipimo byo gupima umugozi, ubushyuhe bwa T – SMA, \(A_s\) na \(A_f\) – intangiriro n'iherezo ry'icyiciro cya austenite, uko bikurikirana, ubushyuhe.
Ikigereranyo cy’impinduka mu buryo butaziguye, gigaragazwa n’impinduka mu cyiciro cya austenite muri martensite mu gihe cy’ubukonje, ni:
aho \(\xi _A\) ari igice cy'ingano ya martensite yabonetse mbere yo gukonjesha, \(\displaystyle a_M = \pi /(M_s – M_f)\), \(\displaystyle b_M = -a_M/C_M\) na \ (C_M \) – ibipimo byo guhuza imiyoboro, T – ubushyuhe bw'insinga ya SMA, \(M_s\) na \(M_f\) – ubushyuhe bw'ibanze n'ubwa nyuma bwa martensite, uko bikurikirana.
Nyuma y'uko ingano (3) na (4) zitandukanyijwe, ingano y'impinduka zihinduka mu buryo bunyuranyije n'ubutaziguye yoroshywa muri ubu buryo bukurikira:
Mu gihe cyo guhindura imbere n'inyuma \(\eta _{\sigma}\) na \(\eta _{T}\) bifata agaciro gatandukanye. Ibigereranyo by'ibanze bifitanye isano na \(\eta _{\sigma}\) na \(\eta _{T}\) byakuwe kandi biganirwaho mu buryo burambuye mu gice cy'inyongera.
Ingufu z'ubushyuhe zikenewe kugira ngo wongere ubushyuhe bw'insinga ya SMA ziva ku ngaruka zo gushyushya za Joule. Ingufu z'ubushyuhe zinjira cyangwa zirekurwa n'insinga ya SMA zigaragazwa n'ubushyuhe buhishe bwo guhinduka. Gutakaza ubushyuhe mu nsinga ya SMA biterwa no gutwarwa ku ngufu, kandi bitewe n'ingaruka nke z'imirasire, ikigereranyo cy'ingufu z'ubushyuhe ni iki gikurikira:
Aho \(m_{wire}\) ari uburemere bwose bw'umugozi wa SMA, \(c_{p}\) ni ubushobozi bwihariye bw'ubushyuhe bwa SMA, \(V_{in}\) ni voltage ikoreshwa ku mugozi, \(R_{ohm} \ ) – resistance ishingiye ku gice SMA, isobanurwa nka; \(R_{ohm} = (l/A_{cross})[\xi r_M + (1-\xi )r_A]\ ) aho \(r_M\ ) na \(r_A\) ari resistivity ya SMA phase muri martensite na austenite, uko bikurikirana, \(A_{c}\) ni ubuso bw'umugozi wa SMA, \(\Delta H \) ni alloy memory. Ubushyuhe buhishe bw'impinduka z'umugozi, T na \(T_{\infty}\) ni ubushyuhe bw'umugozi wa SMA n'ibidukikije, uko bikurikirana.
Iyo insinga y'icyuma gikoresha imiterere y'ishusho ikoreshejwe, insinga irakomera, igakora imbaraga muri buri shami ry'igishushanyo mbonera cy'imirongo ibiri yitwa imbaraga z'umugozi. Imbaraga z'imigozi muri buri mugozi w'insinga ya SMA hamwe zikora imbaraga z'imitsi kugira ngo ikore, nk'uko bigaragara ku Ishusho ya 9e. Bitewe n'uko hari isoko ihuza imitsi, imbaraga zose z'imitsi ya actuator ya Nth multilayer ni:
Dusimbuza \(N = 1\) mu kigereranyo (7), imbaraga z'imitsi y'icyitegererezo cya mbere cya bimodal drive prototype zishobora kuboneka ku buryo bukurikira:
aho n ari umubare w'amaguru y'uburyo bumwe, \(F_m\) ni imbaraga z'imitsi ziterwa n'umuyoboro, \(F_f\) ni imbaraga za fibre mu mugozi wa SMA, \(K_x\) ni ubukana bwa bias. impera, \(\alpha\) ni inguni y'impandeshatu, \(x_0\) ni umwimerere w'impera ya bias kugira ngo ifate insinga ya SMA mu mwanya wayo wabanje gukandamizwa, naho \(\Delta x\) ni urugendo rw'actuator.
Ihindagurika ryose cyangwa ihindagurika rya disiki (\(\Delta x\)) bitewe n'umuvuduko (\(\sigma\)) n'umuvuduko (\(\epsilon\)) ku mugozi wa SMA wo mu cyiciro cya Nth, disiki ishyirwa kuri (reba Ishusho igice cy'inyongera cy'umusaruro):
Ibigereranyo bya kinematic bitanga isano iri hagati yo guhindura imiterere y'umuyoboro (\(\epsilon\)) no guhindura cyangwa guhindura imiterere (\(\Delta x\)). Guhindura imiterere y'umuyoboro wa Arb nk'uko bigaragazwa n'uburebure bw'umuyoboro wa Arb (\(l_0\)) n'uburebure bw'umuyoboro (l) igihe icyo ari cyo cyose t mu ishami rimwe ry'umuyoboro ni ibi bikurikira:
aho \(l = \sqrt{l_0^2 +(\Delta x_1)^2 – 2 l_0 (\Delta x_1) \cos \alpha _1}\) iboneka hakoreshejwe formula ya cosine muri \(\Delta\)ABB ', nk'uko bigaragara ku Ishusho ya 8. Ku gice cya mbere cyo gutwara (\(N = 1\)), \(\Delta x_1\) ni \(\Delta x\), na \(\alpha _1\) ni \(\alpha \) nk'uko bigaragara ku Ishusho ya 8, mu gutandukanya igihe n'Ikigereranyo (11) no gusimbuza agaciro ka l, igipimo cy'uburemere gishobora kwandikwa nk'iki:
aho \(l_0\) ari uburebure bw'ibanze bw'umugozi wa SMA, l ni uburebure bw'umugozi igihe icyo ari cyo cyose t mu ishami rimwe ry'uburyo bumwe, \(\epsilon\) ni uguhinduka kw'umugozi wa SMA, naho \(\alpha \) ni inguni y'impandeshatu, \(\Delta x\) ni ugutandukanya umugozi (nk'uko bigaragara ku Ishusho ya 8).
Imiterere yose ya n ifite peak imwe (\(n=6\) muri iyi shusho) ihujwe mu buryo bukurikiranye na \(V_{in}\) nk'amashanyarazi yinjiye. Icyiciro cya I: Imbonerahamwe y'insinga ya SMA mu buryo bwa bimodal munsi ya zero voltage conditions Icyiciro cya II: Imiterere igenzurwa igaragazwa aho insinga ya SMA ikandamizwa bitewe no guhinduka mu buryo bunyuranyije n'umurongo utukura.
Nk'igihamya cy'igitekerezo, hakozwe uburyo bwa SMA-based bimodal drive kugira ngo hageragezwe uburyo ibipimo by'ibanze byakuwemo hifashishijwe ibisubizo by'igerageza. Icyitegererezo cya CAD cya bimodal linear actuator kigaragara ku ishusho ya 9a. Ku rundi ruhande, ku ishusho ya 9c hagaragazwa igishushanyo gishya cyatanzwe ku muyoboro wa prismatic uzenguruka hakoreshejwe actuator ifite imiterere ibiri ya SMA. Ibice bya drive byakozwe hakoreshejwe uburyo bwo kongeramo ibikoresho kuri printer ya Ultimaker 3 Extended 3D. Ibikoresho byakoreshejwe mu gucapa ibice mu buryo bwa 3D ni polycarbonate ikwiriye ibikoresho birwanya ubushyuhe kuko ikomeye, iramba kandi ifite ubushyuhe bwinshi bwo guhindura ikirahure (110-113 \(^{\circ }\) C). Byongeye kandi, insinga ya Dynalloy, Inc. Flexinol shape memory alloy yakoreshejwe mu igerageza, kandi imiterere y'ibikoresho ijyanye n'insinga ya Flexinol yakoreshejwe mu buryo bwa simulation. Insinga nyinshi za SMA zitondetse nk'imigozi iboneka mu miterere y'imitsi ibiri kugira ngo haboneke imbaraga nyinshi zikorwa n'ibikoresho by'amashanyarazi byinshi, nk'uko bigaragara ku Ishusho ya 9b, d.
Nkuko bigaragara ku Ishusho ya 9a, inguni ikora neza ikorwa n'insinga ya SMA y'ukuboko kwimuka yitwa inguni (\(\alpha\)). Hamwe n'udukingirizo twa terminal dufatanye n'udukingirizo tw'ibumoso n'iburyo, insinga ya SMA ifatwa ku nguni ya bimodal ikenewe. Igikoresho cya bias spring gifatiwe ku muhuza w'impeshyi cyagenewe guhindura amatsinda atandukanye ya bias spring extension hakurikijwe umubare (n) w'imigozi ya SMA. Byongeye kandi, aho ibice byimuka biherereye hakozwe ku buryo insinga ya SMA igaragara mu kirere cyo hanze kugira ngo ikonjeshe cyane. Amasafuriya yo hejuru n'ayo hasi y'igice gishobora gukurwaho afasha kugumisha insinga ya SMA ikonje hamwe n'uduce twakuwemo twagenewe kugabanya uburemere. Byongeye kandi, impera zombi z'insinga ya CMA zifatanye ku gice cy'ibumoso n'icyo ku kuboko, hakoreshejwe crimp. Plunger ifatanye ku mpera imwe y'igice cyimukanwa kugira ngo igumane umwanya hagati y'amasafuriya yo hejuru n'ayo hasi. Plunger kandi ikoreshwa mu gushyira imbaraga zo gukumira kuri sensor binyuze mu gukoraho kugira ngo ipime imbaraga zo gukumira iyo insinga ya SMA ikoreshejwe.
Imiterere y'imitsi ya bimodal SMA ihuzwa n'amashanyarazi mu buryo bukurikiranye kandi igakoreshwa na voltage y'ingufu z'ingufu. Mu gihe cy'izunguruka ry'ingufu z'amashanyarazi, iyo voltage ikoreshejwe kandi insinga ya SMA igashyuha hejuru y'ubushyuhe bwa mbere bwa austenite, uburebure bw'insinga muri buri mugozi buragabanuka. Uku gusubizwa inyuma bikoresha igice cy'ukuboko kwimuka. Iyo voltage yashyizwe kuri zeru muri iyo ngendo imwe, insinga ya SMA ishyushye yakonjeshejwe munsi y'ubushyuhe bw'ubuso bwa martensite, bityo igasubira mu mwanya wayo wa mbere. Mu gihe cy'imihangayiko ya zeru, insinga ya SMA ibanza kuramburwa n'isoko ry'ingufu kugira ngo igere kuri state ya martensite yakuwemo. Isoko, aho insinga ya SMA inyura, igenda bitewe n'igitutu cyakozwe no gushyira voltage pulse ku nsinga ya SMA (SPA igera kuri austenite phase), biganisha ku gukora kw'ingufu yimukanwa. Iyo insinga ya SMA isubijwe inyuma, isoko ry'ingufu rirema imbaraga zihanganye binyuze mu gukomeza kurambura isoko. Iyo imbaraga ziri mu muvuduko w’ingufu zibaye zeru, insinga ya SMA irarekura ikanahindura imiterere yayo bitewe no gukonjesha kwa convection, ikagera ku kigero cya martensitic ebyiri.
Sisitemu ya SMA-linear actuator ifite imiterere ya bimodal aho insinga za SMA zifunze. (a) igaragaza icyitegererezo cya CAD cy’iyi prototype, kivuga bimwe mu bice n’ibisobanuro byabyo kuri prototype, (b, d) bigaragaza prototype yakozwe mu igerageza35. Mu gihe (b) igaragaza ishusho yo hejuru ya prototype ifite imiyoboro y’amashanyarazi n’amasoko ya bias n’ibipimo bya strain byakoreshejwe, (d) igaragaza ishusho y’imiterere. (e) Ishusho ya sisitemu ya linear actuation ifite insinga za SMA zishyirwamo bimodal igihe icyo ari cyo cyose t, igaragaza icyerekezo n’inzira ya fibre n’imbaraga z’imitsi. (c) Hatanzwe ihuriro rya 2-DOF rotational prismatic ryo gushyiraho actuator ifite plane ebyiri ishingiye kuri SMA. Nkuko byagaragajwe, iyi link yohereza umurongo ugororotse kuva kuri drive yo hasi kugera ku kuboko ko hejuru, bigatuma habaho umurongo uzenguruka. Ku rundi ruhande, kugenda kwa prisms ebyiri ni kimwe no kugenda kwa multilayer first stage drive.
Inyigo y’igerageza yakozwe kuri prototype igaragara ku Ishusho ya 9b kugira ngo hasuzumwe imikorere ya disiki ya bimodal ishingiye kuri SMA. Nkuko bigaragara ku Ishusho ya 10a, ishyirwaho ry’igerageza ryari rigizwe n’amashanyarazi ya DC ashobora gutegurwa kugira ngo atange voltage yinjiye ku nsinga za SMA. Nkuko bigaragara ku ishusho ya 10b, icyuma gipima strain ya piezoelectric (PACEline CFT / 5kN) cyakoreshejwe mu gupima imbaraga zo guhagarika hakoreshejwe Graphtec GL-2000 data logger. Amakuru yanditswe n’umukozi kugira ngo akomeze kwiga. Ibipimo by’strain na amplifiers zo kwishyuza bisaba ingufu zihoraho kugira ngo hakorwe ikimenyetso cy’amashanyarazi. Ibimenyetso bihuye bihindurwamo ingufu bitewe n’uburyo sensor y’imbaraga za piezoelectric ikora n’ibindi bipimo nkuko bivugwa ku Imbonerahamwe ya 2. Iyo voltage pulse ikoreshejwe, ubushyuhe bw’insinga ya SMA buriyongera, bigatuma insinga ya SMA ikanda, bigatuma actuator itanga imbaraga. Ibisubizo by’igerageza by’ingufu z’imitsi hakoreshejwe voltage yinjiye ya 7 V bigaragara ku ishusho ya 2a.
(a) Muri iryo gerageza hashyizweho sisitemu ya SMA ikoresha umurongo ugororotse kugira ngo ipime imbaraga zitangwa na actuator. Akazu k'umutwaro gapima imbaraga zo gukumira kandi gakoreshwa n'amashanyarazi ya 24 V DC. Kugabanuka kwa voltage ya 7 V byashyizwe mu burebure bwose bw'insinga hakoreshejwe umuriro wa GW Instek ushobora gutegurwa wa DC. Insinga ya SMA iragabanuka bitewe n'ubushyuhe, kandi ukuboko kwimukana guhurira n'akazu k'umutwaro kandi gatanga imbaraga zo gukumira. Akazu k'umutwaro gahujwe na GL-2000 data logger maze amakuru abikwa kuri host kugira ngo akomeze gutunganywa. (b) Ishusho igaragaza uruhererekane rw'ibice by'igerageza ryo gupima imbaraga z'imitsi.
Ingufu z’ubushyuhe ziterwa n’ingufu z’ubushyuhe, bityo ubushyuhe buba ikintu cy’ingenzi mu kwiga imiterere y’ubwibutso bw’imiterere. Mu igerageza, nk’uko bigaragara ku Ishusho ya 11a, amashusho y’ubushyuhe n’ibipimo by’ubushyuhe byakozwe ku gikoresho cya SMA gishingiye kuri divalerate. Isoko rya DC rishobora gukoreshwa ryakoresheje voltage yinjiye ku nsinga za SMA mu igerageza, nk’uko bigaragara ku Ishusho ya 11b. Impinduka z’ubushyuhe bw’insinga za SMA zapimwe mu gihe nyacyo hakoreshejwe kamera ya LWIR ifite ubushobozi bwo hejuru (FLIR A655sc). Ikigo gikoresha porogaramu ya ResearchIR kugira ngo cyandike amakuru yo gukomeza gutunganya nyuma y’igerageza. Iyo voltage ikoreshejwe, ubushyuhe bw’insinga za SMA buriyongera, bigatuma insinga za SMA zigabanuka. Ku ishusho ya 2b yerekana ibisubizo by’igerageza by’ubushyuhe bw’insinga za SMA ugereranyije n’igihe cy’ingufu z’amashanyarazi za 7V.
Igihe cyo kohereza ubutumwa: 28 Nzeri 2022
