Robust linear control of a bending molecular artificial muscle based on spin crossover molecules
| Autor: | Bertrand Tondu, Mario Piedrahita-Bello, Lionel Salmon, Gábor Molnár, Azzedine Bousseksou |
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| Přispěvatelé: | Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT), Équipe Mouvement des Systèmes Anthropomorphes (LAAS-GEPETTO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Laboratoire de chimie de coordination (LCC), Institut de Chimie de Toulouse (ICT), Institut de Recherche pour le Développement (IRD)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Institut de Recherche pour le Développement (IRD)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS), Federal University of Toulouse/ Région Occitanie, France, ANR-19-CE09-0008,NAGAM,Actionnement nanomoléculaire pour une nouvelle génération de muscles artificiels(2019) |
| Rok vydání: | 2022 |
| Předmět: |
Metals and Alloys
Artificial muscle Spin crossover Condensed Matter Physics [SPI.AUTO]Engineering Sciences [physics]/Automatic Surfaces Coatings and Films Electronic Optical and Magnetic Materials Computer Science::Robotics [CHIM.POLY]Chemical Sciences/Polymers Open-loop identification PID control Electrical and Electronic Engineering Bending actuator [SDV.IB.BIO]Life Sciences [q-bio]/Bioengineering/Biomaterials Instrumentation |
| Zdroj: | Sensors and Actuators A: Physical Sensors and Actuators A: Physical, 2022, 335, pp.113359. ⟨10.1016/j.sna.2021.113359⟩ |
| ISSN: | 0924-4247 1873-3069 |
| DOI: | 10.1016/j.sna.2021.113359 |
| Popis: | International audience; Bending actuators represent a popular class of artificial muscles for which efficient closed-loop control is a remarkable challenge, due to the complexity of physico-chemical phenomena occurring during dynamic contraction. In this study, we investigate an electro-thermally actuated, bilayer bending actuator based on spin crossover molecules. While these artificial muscles can open-loop contract in several tens of seconds, we show that a simple closed-loop PID-control is able to reduce the response time to ca. 1.5 s, even with loads up to 5 times the actuator weight (i.e. a maximal load of about 343 mg). We demonstrate also satisfactory sine wave tracking performance. The relevance of this linear control approach applied to a nonlinear actuator is the consequence of the high sensibility of the actuator to the current, responsible for the Joule effect. Notably, the actuator roughly behaves like a second-order linear system, whose time “constants” decrease with current. Consequently, the natural speed improvement peculiar to the PID-controller is further amplified by this nonlinear effect, without any loss in stability of the closed-loop system. |
| Databáze: | OpenAIRE |
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