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Vahabi, M., Kabganianii, M.. (1390). Nonlinear Parametric Identification of an IPMC Actuator Model. نشریه مهندسی عمران امیرکبیر, 43(2), 27-31. doi: 10.22060/miscj.2011.163
M. Vahabi; M. Kabganianii. "Nonlinear Parametric Identification of an IPMC Actuator Model". نشریه مهندسی عمران امیرکبیر, 43, 2, 1390, 27-31. doi: 10.22060/miscj.2011.163
Vahabi, M., Kabganianii, M.. (1390). 'Nonlinear Parametric Identification of an IPMC Actuator Model', نشریه مهندسی عمران امیرکبیر, 43(2), pp. 27-31. doi: 10.22060/miscj.2011.163
Vahabi, M., Kabganianii, M.. Nonlinear Parametric Identification of an IPMC Actuator Model. نشریه مهندسی عمران امیرکبیر, 1390; 43(2): 27-31. doi: 10.22060/miscj.2011.163

Nonlinear Parametric Identification of an IPMC Actuator Model

AUT Journal of Modeling and Simulation
مقاله 4، دوره 43، شماره 2، بهمن 2011، صفحه 27-31    اصل مقاله (358.72 K)
نوع مقاله: Research Article
شناسه دیجیتال (DOI): 10.22060/miscj.2011.163
نویسندگان
M. Vahabi؛ M. Kabganianii
چکیده
Ionic polymer metal composite is a class of electro-active polymers which are very attractive smart actuators due to its large bending deflection, high mechanical flexibility, low excitation voltage, low density, and ease of fabrication. These properties make IPMC a proper candidate for many applications in various fields such as robotics, aerospace, biomedicine, etc.
Although the actuation behaviors of this material are recently investigated, it is still a challenging problem to develop a promising model which covers all the physical properties associated with it. Further, nonlinear identification methods for IPMC nonlinear actuation model have not yet been applied. In this paper, Bonomo’s nonlinear model is used to formulate IPMC. In the following, the parameters of this model are identified through compromising nonlinear and linear least squares methods. According to the input type, the identification process for the electrical part is decoupled into two groups: nonlinear and linear. This technique resulted in reducing the number of parameters and more accurate identification. The identification method is validated using proper inputs. The generated results show that convergence of the identified parameters is guaranteed by the proposed method.
کلیدواژه‌ها
Ionic Polymer Metal Composite؛ Identification؛ Actuator؛ Nonlinear least squares
عنوان مقاله [English]
Nonlinear Parametric Identification of an IPMC Actuator Model
چکیده [English]
Ionic polymer metal composite is a class of electro-active polymers which are very attractive smart actuators due to its large bending deflection, high mechanical flexibility, low excitation voltage, low density, and ease of fabrication. These properties make IPMC a proper candidate for many applications in various fields such as robotics, aerospace, biomedicine, etc.
Although the actuation behaviors of this material are recently investigated, it is still a challenging problem to develop a promising model which covers all the physical properties associated with it. Further, nonlinear identification methods for IPMC nonlinear actuation model have not yet been applied. In this paper, Bonomo’s nonlinear model is used to formulate IPMC. In the following, the parameters of this model are identified through compromising nonlinear and linear least squares methods. According to the input type, the identification process for the electrical part is decoupled into two groups: nonlinear and linear. This technique resulted in reducing the number of parameters and more accurate identification. The identification method is validated using proper inputs. The generated results show that convergence of the identified parameters is guaranteed by the proposed method.
کلیدواژه‌ها [English]
Ionic Polymer Metal Composite, Identification, Actuator, Nonlinear least squares
مراجع

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[15]  D. Bandopadhya, "Derivation of transfer function of an IPMC actuator based on pseudo-rigid body model," Journal of reinforced plastics and composites, vol. 29, pp. 372-90, 2010.

[16]  N. Bhat and W. J. Kim, "Precision force and position control of an ionic polymer metal composite," Proc. IMechE, Part I: J. Systems and Control Engineering, vol. 218, pp. 421-432, 2004.

[17]  K. Yun and W. J. Kim, "System identification and microposition control of ionic polymer metal composite for three-finger gripper manipulation," Proc. IMechE, Part I: J. Systems and Control Engineering, vol. 220, pp. 539-551, 2006.

[18]  C. Bonomo, L. Fortuna, P. Giannone, and S. Graziani, "A nonlinear model for ionic polymer metal composites as actuators," Int. J. Smart Mater. Struct., vol. 16, pp. 1-12, 2007.

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