The Preparation Of3D-IPMCs And Study Of Adaptive Inverse Control Of Its Actuator

3D-IPMCs (thick IPMC), a kind of new intelligent materials, has the performance of perception and actuator. IPMC can make large bending deformation under low driving voltage and make a weak voltage under mechanical displacement. At the same time, it has the advantages of light quality, flexibility and can be cut in shape and size. So the research of3D-IPMCs has a great significance in the force control, biological medicine and other fields.Firstly, this paper introduces the preparation process of3D-IPMCs with hot pressing method, and then test3D-IPMCs’driving performance. Test results showed that3D-IPMCs actuator prepared through the hot pressing method output have a great improvement in output force and the working time in air and reach the purpose of preparation.Secondly, build3D-IPMCs linear transfer function model and nonlinear hysteresis model and creep model, and get a more accurate model of3D-IPMCs actuator model through the superposition of hysteresis model and creep model. The establishment of the model laid theoretical foundation for simulation and control.Thirdly, build the semi-physical simulation control system based on the xPC provided by MATLAB and achieve the production of U Startup disk for target machine, the connection between host machine and target machine with Ethernet, the connection between target machine and external equipment, the building of Simulink model, model parameter setting, the formation of real-time control model and target’s control. The realization of the system building technology decrease the time of building basis module and make scientific research personnel have more time to devote to control algorithm in the study.Finally, design respectively the PID controller and adaptive inverse controller for3D-IPMCs actuator and get the simulation model and the simulation results, and then use C MEX S function to write the adaptive inverse control of identification algorithm, inverse model calculation algorithm and creep model calculation algorithm prepared for3D-IPMCs actuator control experiment. We establish PID controller and adaptive inverse controller real-time simulation model realized control experiments and add the compensation of the optimum control based on adaptive inverse control. Test results showed that3D-IPMCs actuator can be control well by the controller mentioned above.