弯曲型导电聚合物驱动器逆模型控制

Inverse Model Control of Bending Conducting Polymer Actuators

针对三层弯曲型导电聚合物驱动器,研究了一种无需外部传感反馈装置的逆模型控制方法。通过实验辨识获得驱动器系统传递函数准确,以驱动器系统的4阶传递函数建立的逆模型控制系统结构简单、易于实现。通过补偿驱动器位移漂移特性提高位移控制精度。实验结果表明:其所提出的具有位移漂移补偿的逆模型控制位移输出能够快速有效地跟踪驱动器的实际位移响应,同时精度符合控制要求。

An inverse model control method without external sensors is presented for conducting polymer actuators.It is accurate that transfer function of actuators system established through a system identification approach and aninverse control system which is based on four-order transfer function actuator system is simple in structure,and easyto be realized. It adopts drift compensation to improve precision control on conducting polymer actuators. The exper-iment result shows that the proposed inverse model with drift compensation is effective and accurate for actuator dis-placement tracking and tracking error meets control requirements.