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Position control of ionic polymer-metal composites using fuzzy logic

Radmard, S ; Sharif University of Technology | 2009

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  1. Type of Document: Article
  2. DOI: 10.1115/IMECE2008-66355
  3. Publisher: 2009
  4. Abstract:
  5. The Ionic polymer-metal composites (IPMCs) form an important category of electroactive polymers which generate large deformation under a low driving voltage. In this paper an empirical model of IPMC is developed by measuring the step response of a 23 mmx3.6 mmx0.16 mm IPMC strip in a cantilever configuration. Moreover, a model-based precision position control of an IPMC base on the fuzzy logic is presented. Open-loop position responses of an IPMC are not repeatable, and hence closed-loop precision control is of critical importance to ensure proper functioning, repeatability and reliability. A CCD camera was used to observe the closed loop response of the IPMC strip in order to control this electro-mechanical actuator experimentally. The IPMC actuator could follow various commanded position trajectories such as sinusoidal and square position profiles. The control architecture presented includes a fuzzy system whose structure and parameters were designed by trail-and-error beside a gain scheduled PID controller using fuzzy system. The performance of the IPMC strip is investigated and compared under these controllers. Copyright © 2008 by ASME
  6. Keywords:
  7. Closed loop response ; Closed-loop ; Control architecture ; Electro-active polymers ; Electro-mechanical actuator ; Empirical model ; Ionic polymer metal composites ; Large deformations ; Low driving voltage ; Model-based ; Open loops ; PID controllers ; Position response ; Precision control ; Precision position ; Actuators ; Cameras ; Closed loop control systems ; Conducting polymers ; Controllers ; Electromechanical devices ; Fuzzy sets ; Mechanical engineering ; Photoresists ; Polymers ; Position control ; Proportional control systems ; Fuzzy logic
  8. Source: 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, MA, 31 October 2008 through 6 November 2008 ; Volume 11 , 2009 , Pages 575-581 ; 9780791848722 (ISBN)
  9. URL: https://asmedigitalcollection.asme.org/IMECE/proceedings-abstract/IMECE2008/48722/575/335395