Modeling and control of a dielectric elastomer actuator

2016 ◽  
Author(s):  
Ujjaval Gupta ◽  
Guo-Ying Gu ◽  
Jian Zhu
Keyword(s):  
Dielectric Elastomer ◽  
Dielectric Elastomer Actuator ◽  
Modeling And Control ◽  
And Control

scholarly journals Position Control of the Dielectric Elastomer Actuator Based on Fractional Derivatives in Modelling and Control

Actuators ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 18
Author(s):  
Timi Karner ◽  
Janez Gotlih
Keyword(s):  
Position Control ◽  
Dielectric Elastomer ◽  
Step Response ◽  
Dielectric Elastomer Actuator ◽  
Death Time ◽  
Real Model ◽  
Successful Control ◽  
Actuator Control ◽  
And Control ◽  
Step Responses

Successful control of a dielectric elastomer actuator (DEA) can be a challenging task, especially if no overshoot is desired. The work presents the first use of the PIλDμ control for a dielectric elastomer actuator to eliminate the overshoot. The mathematical model of the dielectric elastomer was established using the fractional Kelvin-Voigt model. Step responses are first tested in the Laplace domain, which gave the most satisfactory results. However, they did not represent the real model. It cannot have negative force acting on the dielectric elastomer actuator. Simulations in Matlab/Simulink were performed to obtain more realistic responses, where output of the PIλDμ controller was limited. Initial parameters for a PID control were obtained by the Wang–Juang–Chan algorithm for the first order plus death time function approximation to the step response of the model, and reused as the basis for the PIλDμ actuator control. A quasi-anti-windup method was introduced to the final control algorithm. Step responses of the PID and the PIλDμ in different domains were verified by simulation and validated by experiments. Experiments proved that the fractional calculus PIλDμ step responses exceeded performance of the basic PID controller for DEA in terms of response time, settling time, and overshoot elimination.

A novel flying robot system driven by dielectric elastomer balloon actuators

2018 ◽  
Vol 29 (11) ◽  
pp. 2522-2527 ◽  
Author(s):  
Hui Zhang ◽  
Yifan Zhou ◽  
Min Dai ◽  
Zhisheng Zhang
Keyword(s):  
Electrical Breakdown ◽  
Single Layer ◽  
Fast Response ◽  
Dielectric Elastomer ◽  
Low Noise ◽  
Modeling And Control ◽  
Soft Actuators ◽  
Controllable Motion ◽  
And Control ◽  
Flying Robot

Soft unmanned flying objects have been developed to improve communication in areas where natural disasters occur. This article investigates the design, modeling, and control of an unmanned flying robot, different from classic flying robots which are based on electric motors, robots driven by soft actuators that have advantages of low noise, deformable property, and fast response. Untethered system based on dielectric elastomer actuators can be controlled to move, theory and experiments are presented to show the movement accompanied by large voltage-triggered deformation. We connect a dielectric elastomer balloon-shaped shell to an inelastic chamber which has larger volume and apply voltage to trigger one-layer or two-layer VHB membrane without causing electrical breakdown. The results show that buoyancy force in the air for helium balloon system is inversely proportional to the altitude when the flight system goes up. Compared with single-layer balloon shell, we also generalize the concept of multi-layer soft actuators that offer larger deformation. The larger the original volume of the untethered system is, the more mass can be controlled at the actuated state. Voltage-triggered controllable motion is appreciating with our designed structure.

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