Research On Array Actuator Control System Based On Ionic Polymer Metal Composite

Ionic Polymer Metal Composite(IPMC)is a flexible intelligent material with great application potential.There is large displacement under driving voltage lower than 10 V.It has shown great application prospects in many fields including flexible robot,aerospace,biomedicine.However,the application of IPMC was limited by one of the main drawbacks,the serious nonlinearity.The existence of nonlinear characteristics will affect the stability during its application,so the modeling and controlling of the material is of great importance.Firstly,two and three electrodes IPMC array actuator samples were prepared by manual etching,and then the samples of two and three electrode IPMC array actuators were tested under different DC voltage combinations.Its deformation characteristics were studied.Then,the response of IPMC cantilever beam under DC voltage is measured experimentally,and a control strategy for IPMC relaxation effect is proposed,that is,fuzzy PID control IPMC bending deformation.Taking the error of IPMC displacement and the rate of error change as the input parameter of fuzzy PID controller,the parameter increment of PID controller is taken as the output of fuzzy PID controller,and the parameter self-tuning of PID controller is realized.The fuzzy PID and the conventional PID control system simulation are based on Matlab/Simulink.The simulation results shows that the response time of the fuzzy PID control system is 1.3s faster than that of the conventional PID control system,the maximum overshoot phase is reduced by 74.5% and the steady-state error is reduced by 65.6%.The output displacement controlling experiments of fuzzy PID control system and conventional PID control system are carried out by using STC51 microcontroller.The experimental results shows that the response time of the fuzzy PID control system is 8s faster than that of the conventional PID control system,the maximum overshoot phase is reduced by 77%,and the steady-state error is reduced by 49%.It is verified that the fuzzy PID control system has some advantages in controlling the output displacement of IPMC terminal.Finally,the IPMC self-sensing method is used to control the bending of IPMC array actuators.The relationship between the output voltage of IPMC terminal and the bending curvature of IPMC is established.The bending curvature control of IPMC array driver is realized by using single chip microcomputer to collect the output voltage of IPMC itself as feedback signal.The feasibility of the method is verified.