基于Levy辨识法的IPMC等效电路迟滞建模与验证
Hysteresis modeling and verification of IPMC equivalent circuits based on Levy identification method
李森 1安坤 1郭立山 1李宁 1范东 1孟江2
作者信息
- 1. 中北大学电气与控制工程学院 太原 030051
- 2. 中北大学机械工程学院 太原 030051
- 折叠
摘要
离子聚合物-金属复合材料(ionic polymer-metal composite,IPMC)是一种新型柔性智能材料,但其致动机理尚不明确,位移跟踪困难.针对IPMC悬臂梁器件在低频交流驱动电压下具有明显的迟滞非线性、建模困难的特点,测试了IPMC悬臂梁在低频交流电压下的致动特性,分析了IPMC在0.1～10 Hz、2～5.5 V的增益与相位,并使用Levy辨识法建立了驱动电压到致动位移的三阶传递函数模型.基于已建立的传递函数模型,提出了IPMC的非线性等效电路与一阶传递函数的分段建模方法,改进了IPMC的等效电路模型无法预测致动位移的缺点.通过实验对比,结果表明,在IPMC悬臂梁器件在0.1～5 Hz、2～5.5 V的低频正弦驱动电压下,可使用等效电路加一阶传递函数代替IPMC复杂的动力学过程,整体误差低于0.3 mm,平均相对误差2.89%,满足应用条件.可以用作IPMC的低频交流用途,提高了IPMC位移跟踪精度.
Abstract
Ionic polymer-metal composite(IPMC)is a new flexible smart material,but its mechanism is not clear and its displacement tracking is difficult.In view of the obvious hysteresis nonlinearity and modeling difficulties of IPMC cantilever beam device under low frequency AC drive voltage,this paper tests the actuation characteristics of IPMC cantilever beam under low frequency AC voltage,and analyzes the gain and phase of IPMC at 0.1～10 Hz and 2～5.5 V.The third order transfer function model from driving voltage to actuating displacement is established by Levy identification method.Based on the established transfer function model,a pieceby-step modeling method of IPMC's nonlinear equivalent circuit and first-order transfer function is proposed,which improves the defect that IPMC's equivalent circuit model cannot predict the actuated displacement.The results show that under the low frequency sinusoidal drive voltage of 0.1～5 Hz and 2～5.5 V,the IPMC cantilever device can be replaced by equivalent circuit + first-order transmission.The overall error is less than 0.3 mm,and the average relative error is 2.89%,which meets the application conditions.It can be used for low-frequency AC use of IPMC to improve IPMC displacement tracking accuracy.
关键词
IPMC迟滞特性/Levy辨识/传递函数/等效电路建模Key words
IPMC hysteresis/Levy identification/transfer function/equivalent circuit modeling引用本文复制引用
出版年
2024
NETL
NSTL
万方数据