Modeling and Control of Artificial Muscles Actuated Systems with Applications to Biomedical Systems

人工肌肉驱动系统的建模和控制及其在生物医学系统中的应用

• 批准号: 217196-2013
• 负责人: Su, ChunYi
• 金额: $ 1.89万
• 依托单位: Concordia University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=570116
• 关键词: Modeling; Control; Artificial; Muscles; Actuated

Over the last decade, electroactive polymers, a novel family of smart materials, have received tremendous interests for their potential applications in sensing, actuation, and energy harvesting. Therein, ionic polymer-metal composites (IPMCs) form an important category of electroactive polymers and have built-in actuation and sensing capabilities. Owing to the IPMCs' softness, resilience, biocompatibility and the capability of producing large deformation under a low action voltage, IPMCs are highly attractive as a material for actuators or sensors in biomedical applications and for developing artificial muscles or biomimetic robots. However, the IPMC actuated systems reflect highly nonlinear characteristics observed in both electrical and mechanical responses including creep, hysteresis, structural nonlinearity, and time-varying behaviors, and so on, which severely limits system performance. Without the aid of feedback control techniques to overcome the these effects, it is only possible to achieve limited positioning accuracy. Control of the IPMC actuated systems including hysteresis nonlinearity are very difficult problems because the vast majority of existing control methods are only applicable to systems that are smooth and differentiable. New methods, however, are greatly needed because hysteresis nonlinearities often severely limit the performance of feedback systems if they are not controlled properly. Therefore, the development of characterizing and control techniques for IPMC actuated systems is of significant theoretical and practical interest for their applications. The objective of this research is to conduct fundamental research related to modeling and control of the IPMC actuated systems involving complex hysteresis in the presence of model uncertainties. The targeted applications includes biomedical systems such as artificial muscle actuating units and biomimetic robots.

在过去的十年里，电活性聚合物这一新型智能材料家族因其在传感、驱动和能量收集方面的潜在应用而受到极大的关注。其中，离子聚合物-金属复合材料(IPMC)是电活性聚合物的一个重要类别，具有内置的驱动和传感能力。由于IPMCs的柔软性、弹性、生物相容性和在低电压下产生大变形的能力，IPMCs作为生物医学应用中的驱动器或传感器以及开发人造肌肉或仿生机器人的材料非常有吸引力。然而，IPMC驱动系统在电学和力学响应方面都表现出高度的非线性特征，包括蠕变、滞后、结构非线性和时变行为等，这严重限制了系统的性能。如果没有反馈控制技术来克服这些影响，就只能达到有限的定位精度。 包含滞环非线性的IPMC驱动系统的控制是一个非常困难的问题，因为现有的绝大多数控制方法只适用于光滑和可微的系统。然而，迫切需要新的方法，因为如果控制不当，滞后非线性往往会严重限制反馈系统的性能。因此，发展IPMC驱动系统的特性和控制技术对其应用具有重要的理论意义和实用价值。本研究的目的是在存在模型不确定性的情况下，对含有复杂迟滞的IPMC驱动系统的建模和控制进行基础性研究。目标应用包括生物医学系统，如人工肌肉执行单元和仿生机器人。