This paper describes how to generate the vibration of IPMC effectively. First, it was found that IPMC generates large
spiky deformation by applying long-term period saw-tooth wave voltage. The deformation quantity is increased with the
longer period saw-tooth wave. Vibration with the proportional control was also investigated. IPMC cannot control its
position by proportional control because of its frequent polarity change of the applied voltage. In this study, the
proportional control is used for making vibration. However, the displacement induced by the proportional control is
basically the same to the application of the AC rectangular pulse voltage if the frequency is equivalent to the equilibrium
frequency of the proportional control. An automatic frequency tuning program was also made to vibrate IPMC
effectively. The controller estimates the IPMC's vibration from the laser displacement sensor and changes the frequency
of AC rectangular pulse voltage. The program tunes the frequency to maximize the average moving speed. The searching
algorism is basically a hill climbing algorism. This program can tune IPMC's vibration frequency automatically if the
surrounding circumstance is changed from water to air.
The positioning control of IPMC is generally considered difficult. Our previous study, however, clarifies that IPMC's
position can be controlled by integral control if the residual deformation remains in the same side of the initial
deformation. In this study, the effects of the positive counter ions and the negative ions on the deformation
characteristics were examined. The direction of the residual strain was changed by the pH of the negative ion at around
pH5.5 - pH6. If the pH is more alkaline, IPMC can be controlled its position. A mechanism of residual deformation is
proposed.
This paper describes the positioning control method of Au-Nafion IPMC. Au-Nafion IPMC can be classified into two types whether the residual strain is generated to the cathode side (SDT) or the anode side (ODT). SDT can be controlled its position by normal integral control. ODT can also be controlled by restricting the maximum changing speed in the integral control. Experimental result showed the close relationship between the direction of the residual strain and the density or the amount of the counter ion.
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