Modeling and adaptive inverse control of hysteresis and creep in ionic polymer-metal composite actuators
Modeling and adaptive inverse control of hysteresis and creep in ionic polymer-metal composite actuators
复制标题
离子聚合物-金属复合执行器中滞后和蠕变的建模和自适应逆控制
DOI：
10.1088/0964-1726/19/2/025014
复制
发表时间：
2010-02-01
影响因子：
4.1
通讯作者：
Li, Zhi
中科院分区：
文献类型：
--
作者：
Hao, Lina;Li, Zhi
离子交换聚合物-金属复合材料（IPMC）是一种电活性高分子材料，与压电材料、形状记忆合金等智能材料一样，具有迟滞和蠕变等特性。本文解释了IPMC的滞回和蠕变特性，采用离散Prandtl-lshlinskii模型分析了其滞回特性，通过修正压电材料的蠕变模型得到了IPMC的蠕变模型，并给出了其滞回的逆模型。针对IPMC的迟滞和蠕变特性随时间以不同速率变化，采用LMS（最小均方）算法在线识别迟滞参数。采用离线识别算法获取蠕变参数。基于非线性迟滞和线性蠕变的叠加模型，建立了一种自适应逆控制策略，并取得了良好的仿真和实验结果。
Like most smart materials, such as piezoelectric materials and shape memory alloys, ion-exchange polymer-metal composite (IPMC), which is a kind of electroactive polymer material, exhibits the properties of hysteresis and creep. In this paper we explain the hysteresis and creep properties of IPMC, analyze the hysteresis using a discrete Prandtl-lshlinskii model, obtain a creep model of IPMC through modifying the creep model of piezoelectric material and present an inverse model of the hysteresis. For hysteresis and creep properties of IPMC changing with time at different rates, we applied the LMS (least mean square) algorithm to identify the hysteresis parameters online. An offline identification algorithm was used to obtain the creep parameters. An adaptive inverse strategy of control for IPMC actuators was set up on the basis of a superposition model of nonlinear hysteresis and linear creep, and we obtained good simulation and experiment results.