Quasi-Static Positioning of Ionic Polymer-Metal Composite (IPMC) Actuators
Quasi-Static Positioning of Ionic Polymer-Metal Composite (IPMC) Actuators
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DOI：
10.1109/aim.2005.1500966
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发表时间：
2005-07
期刊：
影响因子：
--
通讯作者：
Zheng Chen;Xiaobo Tan;M. Shahinpoor
中科院分区：
文献类型：
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作者：
Zheng Chen;Xiaobo Tan;M. Shahinpoor
离子聚合物-金属复合材料（IPMCs）在较低的驱动电压（约1v）下产生较大的弯曲运动。本文以精确定位为目标，研究了IPMC的准静态驱动。发现IPMC的弯曲曲率与施加的准静态电压之间存在滞回。提出了基于Preisach算子的迟滞模型，并通过实验确定了其密度函数。提出了一种基于Preisach算子高效反演的开环定位策略，并通过实验验证了其有效性。最后，提出了一种级联模型结构来捕捉IPMC作动器的滞回和动力学。
Ionic polymer-metal composites (IPMCs) generate large bending motions under a low driving voltage (about 1 V). In this paper quasi-static actuation of IPMC is investigated with the goal of precise positioning. It is found that IPMC exhibits hysteresis between its bending curvature and the applied quasi-static voltage. The Preisach operator is proposed to model the hysteresis, and its density function identified experimentally. An open-loop positioning strategy is presented based on efficient inversion of the Preisach operator, and its efficacy is demonstrated by experimental results. Finally a cascaded model structure is proposed to capture both the hysteresis and the dynamics of IPMC actuators.