Control of an SMA actuation apparatus
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United States of America Patent
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Jun 20, 2017
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N/A
app pub date -
Nov 11, 2013
filing date -
Nov 14, 2012
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Abstract
SMA actuator wires in an SMA actuation apparatus are connected in tension between a movable element and a support structure, applying forces to the movable element in opposed directions. Measures of the resistances of the SMA actuator wires are detected. A feedback difference measure is derived being the sum of the measures of resistance of the SMA actuator wires, relatively scaled by factors, in respect of the SMA actuator wires, the magnitude of which represents a component along the predetermined axis of a force applied by the SMA actuator wire and the sign of which represents a direction along the predetermined axis. The ratio has opposite signs for respective ones of said opposed directions. The powers of drive signals supplied to the SMA actuator wires are controlled in response to the feedback difference measure to reduce the difference between the feedback difference measure and a target difference measure.
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