Differential hysteresis modeling with adaptive parameter estimation of a super-coiled polymer actuator
Differential hysteresis modeling with adaptive parameter estimation of a super-coiled polymer actuator
复制标题
超螺旋聚合物致动器的自适应参数估计的微分磁滞建模
DOI：
10.1109/urai.2017.7992683
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
H. Moon
中科院分区：
文献类型：
--
作者：
T. Luong;Sungwon Seo;J. Koo;Hyoukryeol Choi;H. Moon
超螺旋聚合物（SCP）致动器是一种新型的人工肌肉，它由银涂层的鱼线制成，可以通过电流驱动，具有收缩率大（20%~ 50%）、功率密度高（5.3 kW/kg）、重量轻、成本低等特点。本文提出了一种具有自适应参数估计的微分迟滞模型，用于超螺旋聚合物致动器的建模。致动器的操作将被建模与热传递模型和应变-温度滞后模型。在热的应变-温度滞后建模是一个微分滞后模型，其中还包括滞后曲线和负载之间的关系。此外，基于输出反馈的自适应模型参数估计被用来提高模型的性能。模型的实现结果表明，该模型可以有效地估计执行器的行为，特别是其滞后。该模型可用于开发超螺旋执行器的位置控制器。
The super-coiled polymer (SCP) actuator, made from silver coated fishing line which can be actuated by an electric current, is a recently discovered artificial muscle with interesting properties such as large contraction (20%–50%), high power density (5.3 kW/kg), light weight and extremely low cost. In this paper, a differential hysteresis model with adaptive parameter estimation is presented for modeling of super-coiled polymer actuators. The operation of the actuator will be modeled with a heat transfer model and strain-temperature hysteresis model. At the heat of the strain-temperature hysteresis modeling is a differential hysteresis model which also incorporates the relationship between hysteresis curves and loads. In addition, adaptive model parameter estimation based on output feedback is applied to increase the performance of the model. The implementation results of the model show that the proposed model can effectively estimate the actuator's behavior, especially its hysteresis. This model can be used to develop a position controller for the super-coiled actuator.