Closed loop control of dielectric elastomer actuators based on self-sensing displacement feedback
Closed loop control of dielectric elastomer actuators based on self-sensing displacement feedback
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DOI：
10.1088/0964-1726/25/3/035034
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发表时间：
2016-03-01
影响因子：
4.1
通讯作者：
Seelecke, S.
中科院分区：
文献类型：
--
作者：
Rizzello, G.;Naso, D.;Seelecke, S.
本文描述了一种基于介电弹性体执行器 (DEA) 的定位系统的无传感器控制算法。可以在致动期间测量施加到膜的电压和产生的电流，并用于估计其位移，即执行自感测。然后，估计的位移可以用作位置控制算法的反馈信号，这使得紧凑的设备能够在闭环控制中运行，而不需要额外的机电或光学传感器。在这项工作中，使用预载双稳态弹簧的圆形 DEA 作为研究案例来验证所提出的控制架构。还提供了使用精确激光位移传感器进行反馈所实现的闭环性能的比较，以更好地评估整个无传感器方案的性能限制。
This paper describes a sensorless control algorithm for a positioning system based on a dielectric elastomer actuator (DEA). The voltage applied to the membrane and the resulting current can be measured during the actuation and used to estimate its displacement, i.e., to perform self-sensing. The estimated displacement can be then used as a feedback signal for a position control algorithm, which results in a compact device capable of operating in closed loop control without the need for additional electromechanical or optical transducers. In this work, a circular DEA preloaded with a bi-stable spring is used as a case of study to validate the proposed control architecture. A comparison of the closed loop performance achieved using an accurate laser displacement sensor for feedback is also provided to better assess the performance limitations of the overall sensorless scheme.