导电聚合物驱动器的自适应滑模控制研究

Adaptive sliding mode control of conducting polymer actuators

针对多层弯曲型导电聚合物驱动器的建模和动态精确控制问题,通过搭建实验系统对其进行了自适应滑模控制研究,通过系统在线辨识方法获取驱动器系统模型参数,建立了具有动态参数的线性系统传递函数的机电模型。采用自适应滑模控制方法补偿了驱动器模型的不确定性与未建模动态的影响,基于二阶线性系统模型,提出了滑模变结构控制方法实现对驱动器弯曲位移的有效控制,并通过Lyapunov理论证明了滑模变结构控制的自适应控制规律的稳定性。实验结果表明:未建模动态对导电聚合物驱动器系统扰动有限,驱动器输出位移的跟踪误差均方根在0.032 mm内,自适应滑模控制方法能稳定有效地控制弯曲型导电聚合物驱动器的弯曲位移。

Aiming at the problem of modeling and dynamic precision control of the conducting polymer actuator with multi-layer,an experimental system was established for the adapitive sliding mode control,and its mathematical model make up of linear system transfer function with dynamic parameters,was built by identifying the parameters on line. The influence of the uncertainty and limited unmodeled dynamics of the actuator was compensated by adaptive sliding mode control,a sliding model control law was proposed to control the second order linear system model,and the control accuracy can be adjusted in the control law. The control system stability was proved by Lyapunov theory. The results indicate that the conducting polymer actuator is limited unmodeled dynamics,the tracking error of the output displacement of the actuator is within the 0. 032 mm,and the adaptive sliding mode control method can be stabled and effectively control the bending displacement of the conduction polymer actuator.