Control system design for a dielectric elastomer actuator: the sensory subsystem
Control system design for a dielectric elastomer actuator: the sensory subsystem
复制标题
介电弹性体执行器的控制系统设计：感觉子系统
DOI：
10.1117/12.475179
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
A. Goldenberg
中科院分区：
文献类型：
--
作者：
L. Tóth;A. Goldenberg
报道了一种用于电介质弹性体传感器（DET）位置控制的传感子系统的研制。在这项研究中，介电弹性体既可以作为感官反馈的来源，也可以作为主要的致动器。具体来说，拉伸薄膜测试被认为是测试感官子系统。薄膜的电容是利用叠加在驱动薄膜的控制信号上的低压载波信号实时测量的。在非弹性屈曲模式下，给出了DET电容与外加电压的关系。将传感子系统对应变的推断与运行时DET数字图像的测量结果进行了比较，证实了两者之间的密切相关性。在低频率激励和老化的碳脂电极条件下，在弹性屈曲模式下测量的电容值出现了惊人的下降。在高频激励和新制备的碳脂电极下，弹性屈曲模式下的测量电容显着增加。
The development of a sensory subsystem for use in the position control of a dielectric elastomer transducer (DET) is reported. In this study, the dielectric elastomer serves as both a source of sensory feedback and as the primary actuator. Specifically, stretched film DETs are considered to test the sensory subsystem. The capacitance of the film is measured in real-time using a low-voltage carrier signal that is superimposed on the control signal for actuation of the film. The relationship between the capacitance of the DET and applied voltage is presented for operating conditions outside of the elastic-buckling mode. The inference of strain made by the sensory subsystem is compared to that measured from digital images of the DET taken during operation and close correlation between the two measurements is confirmed. The capacitance measured during operation within the elastic-buckling mode shows a surprising drop under conditions of low frequency excitation and aged carbon grease electrodes. The measured capacitance in the elastic-buckling mode shows a dramatic increase during high-frequency excitation and with newly fabricated carbon grease electrodes.