Abstract: Based on heat transfer theory and actuating geometric relationship， an execution response model of temperature controlled SMA actuator was proposed. The parameter values affected by temperature in the model were dynamically modified to improve the response accuracy of the driving model. When the side number of the regular polygon section of SMA wire was less than 8， the laws of improving the response speed were analyzed and obtained. Based on the results of theoretical analysis， the actuating response of SMA wire with a diameter of 1.2 mm， a length of 10π mm， an initial central angle of 30° was tested under a current intensity of 6A. By comparing the experimental results with the theoretical model calculation results， the max error of the whole actuating processes（actuating end point）reduces to 1.8 s， and the execution response model may accurately describe the actuating response. 

Key words: shape memory alloy（SMA）, actuator, shape memory effect, execution response model

摘要： 基于传热学理论和驱动几何关系建立了温控形状记忆合金（SMA）驱动器的驱动响应模型，动态修正了模型中受温度影响的参数值，提高了驱动模型的响应精度，分析并得到了SMA丝正多边形截面边数小于8时提高响应速度的规律。基于理论分析结果，测试了直径1.2 mm、长度10π  mm、初始圆心角30°的SMA丝在电流6A下的驱动响应，响应模型的计算结果同实验结果的对比表明，驱动全过程的最大误差（驱动终点）降至1.8 s，模型能较精确地描述驱动过程。

关键词: 形状记忆合金, 驱动器, 形状记忆效应, 驱动响应模型