Iterative learning control of shape memory alloy actuators with thermoelectric temperature regulation for a multifunctional car seat

Modeling and control of a thermo-mechanical system consisting of Peltier-effect thermoelectric devices (TED) and shape memory alloy (SMA) actuators are presented. Bi-layer TEDs sandwiching SMA actuators can generate motion at the SMA wires and simultaneously regulate the temperature of contacting surfaces. The system is applied to an advanced car seat for rapid heating and cooling as well as for massaging of the driver. First, the design of the thermo-mechanical system is described, followed by the modeling of thermal and mechanical behavior of the system. An iterative learning control (ILC) is applied to the control of multi-axis SMA actuators for generating periodic waves for massaging. In addition to the motion control the temperature of the car seat surface is regulated to provide the driver with thermal comfort