Nonlinear model of Ni-Ti wire actuator: Modeling for control purposes

The paper deals with the modeling and simulation of a Ni-Ti alloy wire actuator heated by an electrical resistance and cooled by natural air. In general, the model consists of non-linear static and dynamic parametric differential equations and dominant thermal hysteresis with memory. The paper deals with a modification of the original complex model to be able to control the actuator by standard methods. Simple model based position control is demonstrated using nonlinear gain estimation and compensation of latent heat.