简介：IonicPolymer-MetalComposite(IPMC)canworkasanactuatorbyapplyingafewvoltages.AthickIPMCactuator,whereNafion-117membranewassynthesizedwithpolypyrrole/aluminacompositefiller,wasanalyzedtoverifytheequivalentbeamandequivalentbimorphbeammodels.TheblockingforceandtipdisplacementoftheIPMCactuatorweremeasuredwithaDCpowersupplyandYoung’smodulusoftheIPMCstripwasmeasuredbybendingandtensiletestsrespectively.ThecalculatedmaximumtipdisplacementandtheYoung’smodulusbytheequivalentbeammodelwerealmostidenticaltothecorrespondingmeasureddata.Finiteelementanalysiswiththermalanalogytechniquewasutilizedintheequivalentbimorphbeammodeltonumericallyreproducetheforce-displacementrelationshipoftheIPMCactuator.Theresultsbytheequivalentbimorphbeammodelagreedwellwiththeforce-displacementrelationshipacquiredbythemeasureddata.Itisconfirmedthattheequivalentbeamandequivalentbimorphbeammodelsarepracticallyandeffectivelysuitableforpredictingthetipdisplacement,blockingforceandYoung’smodulusofIPMCactuatorswithdifferentthicknessanddifferentcompositeofionicpolymermembrane.

简介：WeproposedadynamicmodelidentificationanddesignofanH-Infinity(i.e.H_∞)controllerusingaLightweightPiezo-CompositeActuator(LIPCA).Asecond-orderdynamicmodelwasobtainedbyusinginputandoutputdata,andapplyinganidentificationalgorithm.TheidentifiedmodelcoincideswellwiththerealLIPCA.Toreducetheresonatingmodethatistypicalofpiezoelectricactuators,anotchfilterwasused.AfeedbackcontrollerusingtheH_∞controlschemewasdesignedbasedontheidentifieddynamicmodel;thus,theLIPCAcanbeeasilyusedasanactuatorforbiomemeticapplicationssuchasartificialmusclesormacro/micropositioninginbioengineering.Thecontrolalgorithmwasimplementedusingamicroprocessor,analogfilters,andpoweramplifyingdrivers.Oursimulationandexperimentalresultsdemonstratethattheproposedcontrolalgorithmworkswellinrealenvironment,providingrobustperformanceandstabilitywithuncertaindisturbances.