Open-loop control of IPMC actuators under varying temperatures

Roy Dong; Xiaobo Tan

doi:10.1117/12.881864

29 March 2011 Open-loop control of IPMC actuators under varying temperatures

Roy Dong, Xiaobo Tan

Proceedings Volume 7976, Electroactive Polymer Actuators and Devices (EAPAD) 2011; 79762S (2011) https://doi.org/10.1117/12.881864
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2011, San Diego, California, United States

Abstract

Because of size and complexity concerns, implementing feedback control for ionic polymer-metal composite (IPMC) actuators is often difficult or costly in many of their envisioned biomedical and robotic applications. It is thus of interest to develop open-loop control strategies for these actuators. Such strategies, however, are susceptible to change of IPMC dynamics under varying environmental conditions, a predominant example being the temperature. In this paper we present a novel approach to open-loop control of IPMC actuators in the presence of ambient temperature changes. First, a method is proposed for modeling the temperature-dependent actuation dynamics. The empirical frequency response of an IPMC actuator, submerged in a water bath with controlled temperature, is obtained for a set of temperatures. For each temperature, a transfer function of a given structure is found to fit the measured data. A temperature-dependent transfer function model is then derived by curve-fitting each zero or pole as a simple polynomial function of the temperature. Open-loop control is then realized by inverting the model at a given temperature based on the auxiliary temperature measurement. However, the obtained model for IPMC actuators is of non-minimum phase and cannot be inverted directly. A stable but non-causal algorithm is adopted to implement the inversion. Furthermore, a finite-preview algorithm is proposed to enable near real-time tracking of desired outputs. Experimental results show that the proposed approach is effective in improving the tracking performance of IPMC actuators under varying temperatures.

Citation Download Citation

Roy Dong and Xiaobo Tan "Open-loop control of IPMC actuators under varying temperatures", Proc. SPIE 7976, Electroactive Polymer Actuators and Devices (EAPAD) 2011, 79762S (29 March 2011); https://doi.org/10.1117/12.881864

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available