Linear-Quadratic Regulator for Control of Multi-Wall Carbon Nanotube/Polydimethylsiloxane Based Conical Dielectric Elastomer Actuators
Linear-Quadratic Regulator for Control of Multi-Wall Carbon Nanotube/Polydimethylsiloxane Based Conical Dielectric Elastomer Actuators
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DOI：
10.3390/act9010018
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发表时间：
2020-03
期刊：
影响因子：
2.6
通讯作者：
T. Mulembo;Waweru Njeri;G. Nagai;H. Tamagawa;K. Naito;T. Nitta;M. Sasaki
中科院分区：
文献类型：
--
作者：
T. Mulembo;Waweru Njeri;G. Nagai;H. Tamagawa;K. Naito;T. Nitta;M. Sasaki
传统的刚性致动器，如直流伺服电机，在人工肌肉和软机器人中使用它们面临挑战。介电弹性体致动器（DEA）克服了所有这些限制，因为它们表现出复杂和快速的运动，安静，轻便和柔软。近年来，人们对DEAs材料的非线性、非线性机电耦合以及VHB和具有基于石墨粉末和碳脂的柔性电极的基于硅树脂的圆锥形DEAs的粘弹性行为的研究受到了很大关注。然而，由固体电极制成的快速响应锥形DEA所引起的过冲的减轻并没有得到太多的研究关注。在本文中，我们制作了一个圆锥形配置的多壁碳纳米管/聚二甲基硅氧烷（MWCNT/PDMS）为基础的DEA的上升时间为10 ms，和50%的峰值过冲。我们开发了一个全反馈状态为基础的线性二次型调节器（LQR）的Luenberger观察器，以减轻DEA的过冲在两个电压ON和OFF的情况。对锥型DEA模型进行了辨识，得到了一个稳定的、拟合度良好的传递函数，其拟合度为94%。在模拟和实验中，最佳参数Q = 70，000，R = 0.1和Q = 7000，R = 0.01导致DEA响应具有20 ms的上升时间值，零超调。LQR方法可以用于控制快速响应的DEA，这将扩大潜在的使用DEA作为软机器人的人工肌肉。
Conventional rigid actuators, such as DC servo motors, face challenges in utilizing them in artificial muscles and soft robotics. Dielectric elastomer actuators (DEAs) overcome all these limitations, as they exhibit complex and fast motions, quietness, lightness, and softness. Recently, there has been much focus on studies of the DEAs material’s non-linearity, the non-linear electromechanical coupling, and viscoelastic behavior of VHB and silicone-based conical DEAs having compliant electrodes that are based on graphite powder and carbon grease. However, the mitigation of overshoot that arises from fast response conical DEAs made with solid electrodes has not received much research focus. In this paper, we fabricated a conical configuration of multi-walled carbon nanotube/polydimethylsiloxane (MWCNT/PDMS) based DEAs with a rise time of 10 ms, and 50% peak overshoot. We developed a full feedback state-based linear-quadratic regulator (LQR) having Luenberger observer to mitigate the DEAs overshoot in both the voltage ON and OFF instances. The cone DEA’s model was identified and a stable and well-fitting transfer function with a fit of 94% was obtained. Optimal parameters Q = 70,000, R = 0.1, and Q = 7000, R = 0.01 resulted in the DEA response having a rise time value of 20 ms with zero overshoot, in both simulations and experiments. The LQR approach can be useful for the control of fast response DEAs and this would expand the potential use of the DEAs as artificial muscles in soft robotics.