Actuating Performance Investigation And Application System Development Of IPMC

Ion-exchange Polymer-Metal Composites (IPMC) is a type of electro-deformation smart material. Because IPMC performance is similar to biologic muscle, it named as artificial muscle. Such kind of material has great application prospect in military, aerospace, biomedical and other fields, and has attracted more and more attention by many countries. However, it works with complex mechanism, rigorous circumstance, and relates to the technics of preparation, which limit its development and utilization.Firstly, this thesis researches the method of IPMC fabrication. A complete set of experimental platform is developed for IPMC to study experimentally the displacement response characteristic of stimulation signals with different types, frequencies and amplitudes. And then, a chirp signal with controllable frequency is used as a input signal for identification, third-order ARX model used as a model of IPMC structure with the application of recursive least squares identification algorithms, and model parameters off-line and online identification systems for IPMC have been built.With the used times increasing, IPMC model will change slightly. A control strategy with better robustness is needed to ensure stability in a long time. This thesis gains a relatively accurate linear model through identification model parameters. According to this model, both a PID controller and an optimized H∞, controller have been designed. The simulation results show that the controllers can effectively control the linear characteristics of IPMC and repeated experiments in the system are still valid.Finally, based on the IPMC control system, a micro-flow control system is designed, and the effectiveness of the system is proved in theory.