Frequency Domain Based Fractional Order Modeling of IPMC Actuators for Control
| Autor: | Javier Prieto-Arranz, Inés Tejado, José Emilio Traver, Miguel A. López, Blas M. Vinagre |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Materials science business.industry Acoustics 020208 electrical & electronic engineering Composite number Laser etching Robotics 02 engineering and technology Laser law.invention 020901 industrial engineering & automation Deflection (engineering) law Frequency domain Integrator 0202 electrical engineering electronic engineering information engineering Artificial intelligence Actuator business |
| Zdroj: | ECC |
| DOI: | 10.23919/ecc.2019.8795739 |
| Popis: | Ionic polymer metal composite (IPMC) actuators have promising applications in robotics and microrobotics in a not distant future, but this will require a deep knowledge in different aspects, such as manufacturing, material characterization and control strategies. In this paper, frequency responses of several IPMC actuators, cut from the same IPMC bulk sheet with a micro laser etching machine, are obtained experimentally by measuring the tip deflection by means of a laser distance meter. Models, consisting of a fractional integrator in series with a resonant system of both fractional and integer order, are identified in the frequency range [0.11, 30] Hz for each sample of IPMC. The results show that models with these structures can be adequate for control purposes. |
| Databáze: | OpenAIRE |
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