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首页> 外文期刊>Journal of Mechanical Science and Technology >Adaptive feedforward control of ionic polymer metal composites with disturbance cancellation
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Adaptive feedforward control of ionic polymer metal composites with disturbance cancellation

机译：具有干扰消除的离子聚合物金属复合材料的自适应前馈控制

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摘要

Ionic polymer-metal composites (IPMCs) are promising candidates in various sensing and actuation applications due to their light weight, large bending, and low actuation voltage requirements. However, IPMCs are still in the early stage of development, and their bending response can vary widely depending on various factors such as fabrication process, water content, temperature, and contact with electrodes. To control IPMCs in a predictable manner and to minimize the effects of plant uncertainty and external disturbances, a precise and robust control scheme is required. In the present work, a three-part adaptive feedforward control architecture is employed for IPMC deflection control. First, adaptive identification is performed to identify changes in the dynamic behavior over time and in the input voltage using a gradient descent method. Second, an adaptive feedforward controller is implemented to control the dynamic response of the plant, where the IPMC displacement is observed and is used to adjust the parameters of the controller. Third, noise and disturbance cancelling is performed using an additional adaptive canceller, which does not affect the system dynamics. Our results show that the adaptive identification and feedforward controller with disturbance cancellation using the gradient descent method provides accurate tracking performance under plant variation and disturbance. Especially, the fast convergence speed of the proposed technique makes it practical for online control.
机译：离子聚合物-金属复合材料（IPMC）重量轻，弯曲大且对驱动电压的要求低，因此在各种传感和驱动应用中都是有希望的候选者。但是，IPMC仍处于开发的早期阶段，其弯曲响应可能会因各种因素（例如制造工艺，水含量，温度以及与电极的接触）而有很大差异。为了以可预测的方式控制IPMC，并使设备不确定性和外部干扰的影响最小化，需要一种精确而强大的控制方案。在当前的工作中，三部分自适应前馈控制体系结构用于IPMC偏转控制。首先，使用梯度下降法进行自适应识别，以识别动态行为随时间的变化以及输入电压的变化。其次，实施自适应前馈控制器来控制工厂的动态响应，在该工厂中观察到IPMC位移并用于调整控制器的参数。第三，使用附加的自适应消除器执行噪声和干扰消除，这不会影响系统动态。我们的结果表明，采用梯度下降法的具有干扰消除功能的自适应辨识和前馈控制器可在植物变异和干扰条件下提供准确的跟踪性能。特别地，所提出的技术的快速收敛速度使其可用于在线控制。

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