SGER: A Control-Oriented Model for Ionic Polymer-Metal Composite Actuators

SGER：离子聚合物金属复合执行器的面向控制的模型

• 批准号: 0550651
• 负责人: Xiaobo Tan
• 金额: $ 2.71万
• 依托单位: Michigan State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-09-15 至 2006-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0550651&HistoricalAwards=false
• 关键词: SGER; Control; Oriented; Model; Ionic

Ionic Polymer-Metal Composites (IPMCs), informally known as artificial muscles, are an innovative class of smart materials that generate large bending motions under low actuation voltages. As a first step towards the realization of the full potential of IPMCs, the proposed research aims to develop a control-oriented model for IPMC actuators that captures essential dynamics and nonlinearities. It addresses a problem of practical interest that is largely unexplored in existing IPMC modeling work, which typically deals with either complex continuum models (infeasible for real-time control) or simplified linear models (valid only within limited actuation ranges). This project will explore a novel model structure that accounts for major actuation mechanisms and incorporates two nonlinear modules, stress-strain hysteresis and nonlinear dependence of the electrical behavior on the IPMC bending curvature. Given the explicit physical interpretations of individual modules, model identification will be performed by exploiting the separation of energy domains and time scales. Integrating the core nonlinearities, the proposed model is expected to provide a basis for fast, precision, and energy-efficient control of IPMC actuators. As artificial muscles, IPMCs have a wide spectrum of potential applications in biomedical devices, biomimetic robotics, and micro- and nanomanipulation systems. One crucial barrier to these applications is the complicated, nonlinear, electromechanical behaviors of IPMCs. By capturing the key characteristics in a succinct yet adequate way, the proposed research will facilitate the design of effective controllers ("brains") for robots, devices, and systems enabled by these artificial muscles. This can lead to agile prosthetic devices, active bioinstrumentation tools (for example, steerable catheters), and dexterous micro- and nanomanipulators, with potential impacts on health care and micro/nano-manufacturing. In this project the PI will also hold appealing "artificial muscles in action" demos and lectures for K-12 students, and inspire the interest of young students, especially female students, in science and engineering.

离子聚合物 - 金属复合材料（IPMC），非正式地称为人造肌肉，是一类创新的智能材料类，在低致动电压下产生较大的弯曲运动。作为实现IPMC全面潜力的第一步，拟议的研究旨在为IPMC执行器开发一个以控制为导向的模型，以捕获基本的动态和非线性。它解决了实际兴趣问题，该问题在现有的IPMC建模工作中基本上未探索，该工作通常处理复杂的连续模型（对于实时控制不可行）或简化的线性模型（仅在有限的驱动范围内有效）。该项目将探索一种新的模型结构，该结构说明了主要的驱动机制，并结合了两个非线性模块，应力 - 应变磁滞和电行为对IPMC弯曲曲率的非线性依赖性。鉴于单个模块的明确物理解释，将通过利用能量域和时间尺度的分离来执行模型识别。整合核心非线性，预期该模型将为IPMC执行器的快速，精度和节能控制提供基础。作为人造肌肉，IPMC在生物医学设备，仿生机器人技术以及微型和纳米管制系统中具有广泛的潜在应用。这些应用的一个关键障碍是IPMC的复杂，非线性，机电行为。通过以简洁但适当的方式捕获关键特征，拟议的研究将促进这些人造肌肉启用的机器人，设备和系统的有效控制器（“大脑”）的设计。这可能会导致敏捷的假肢设备，主动的生物启示工具（例如，可通道的导管）以及灵巧的微型和纳米流动剂，对医疗保健和微型/纳米制造有潜在的影响。在这个项目中，PI还将为K-12学生提供吸引人的“动作中的人造肌肉”演示和讲座，并激发年轻学生，尤其是女学生，在科学和工程学方面的兴趣。