导电聚合物驱动器的系统辨识和运动控制

Model identification and motion control for conducting polymer actuators

基于导电聚合物具有生物相容性、低电压驱动且可在空气和流体中使用等优点,采用导电聚合物制作弯曲驱动器,并建立实验系统对其运动位移进行测量并进行控制研究。首先,为了建立导电聚合物驱动器控制系统传递函数模型,分别采用最小二乘离线辨识和神经网络在线辨识方法,对驱动器建立准确的二阶数学模型。其次,根据系统辨识模型建立驱动器系统逆模型,并对开环逆模前馈控制进行研究。最后采用逆模前馈PID控制方法对驱动器进行精确运动控制,并与传统PID控制的控制性能进行比较。实验结果表明:逆模前馈PID控制具有很高的控制精度和鲁棒性。

Conducting polymer can be used to manufacture bending actuators due to their biocompatibility, requiring low actuation voltages and ability to operate in air or liquid media, and an experimental system was established for its movement displacement measurement and control research.Firstly, in order to establish the conducting polymer actuators control system’s transfer function model, a least squares off-line identification and neural network on-line identification method were employed to set up accurate second order mathematical model.Secondly, based on the system model, the inverse model was proposed,and open-loop inverse model feed-forward control were studied. Finally, the feed-forward controller with a PID was used to precision motion control ,and its command following performance was compared with that of traditional PID control.The experimental results show that the inverse model feed-forward controller with a PID has high accuracy and robustness.