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Hysteresis Modeling of Shape Memory Alloy Actuator Applied to Puncture Process

Shape memory alloys (SMAs) have excellent flexible driving properties and can be utilized in various fields. Owing to the internal hysteresis property of SMA, it will degrade the control accuracy of SMA actuators. In this paper, the modeling method of the SMA actuator applied to the puncture process is discussed. The generalized Prandtl-Ishlinskii model is selected to characterize the nonlinear hysteresis characteristics of the SMA actuator. Combined with a mechanical model of the puncture process, a system dynamics model is proposed. The validity of the system modeling method is verified by contrasting the output displacement of the formulated model with the measured displacement of the experimental.