CIVILICA We Respect the Science
(ناشر تخصصی کنفرانسهای کشور / شماره مجوز انتشارات از وزارت فرهنگ و ارشاد اسلامی: ۸۹۷۱)

Identification and control of Ionic Polymer–Metal Composite (IPMC) actuators

عنوان مقاله: Identification and control of Ionic Polymer–Metal Composite (IPMC) actuators
شناسه ملی مقاله: ISME18_349
منتشر شده در هجدهمین کنفرانس سالانه مهندسی مکانیک در سال 1389
مشخصات نویسندگان مقاله:

A. Fathi - Babol Noshirvani University Of Technology
N. Kashiri - Babol Noshirvani University Of Technology

خلاصه مقاله:
Ionic Polymer-Metal Composites (IPMCs) are a class of electroactive polymers (EAP) that are able to operate as distributed electromechanical actuators and sensors. These polymers show a great potential to be used as artificial muscle in robotic and in biomedical applications. In this paper, modeling and optimal control of IPMC actuators is studied. Due to the complexity of the governing equations, a nonlinear Hammerstein-Weiner model is used as IMPC model. This model consists of a linear dynamic submodel and two nonlinear memoryless blocks with some unknown parameters which are identified using the experimental results. Considering the identified model and using the inverse of the two nonlinear blocks, a Linear Quadratic Regulator (LQR) feedback controller is presented to control the position of IPMC actuator. Numericalsimulations demonstrate a good position control performance of the IPMC actuator which is obtained by using the proposed controller.

کلمات کلیدی:
Ionic Polymer, Metal Composite, LQR,Hammerstein-Weiner, System Identification

صفحه اختصاصی مقاله و دریافت فایل کامل: https://civilica.com/doc/95824/