Modeling and Control of Conducting Polymer Actuator

Abstract

Conducting polymer actuator has nonlinear dynamic characteristics during its charge process. In this study, we proposed an electromechanic model and an optimal controller for a type of ionic electroactive polymer (IEPA) actuator with sub-millimeter scale, which can produce large deformation under low actuation voltage. The electronic model is to describe the evolution of charge state in time domain. The mechanic model is to calculate the deformation of conducting polymer actuator under the actuation force and external force. Based on the electromechanic coupling model, a parameter identification method is proposed to estimate the nonlinear parameter of conducting polymer actuator. The experiments show that our electromechanic model successfully predicts the deformation of actuator under different input voltages with the identified parameters. In the last step, an optimal controller is designed to control the orientation of IEAP actuator, which achieves at a high control performance in our experiments. The success of the modeling and control lays the foundation work for the subsequent biomedical applications.

Smart Electrode Array for Cochlear Implants

“…Future work will be focused on two aspects to improve the insertion efficiency. The first deals with the optimization of the microactuators distribution thanks to the simulation whereas the second concerns the possibility of using a closed loop control [14] during insertion.…”

Modeling and control of conducting polymer based tri-layer transducer

“…Electrochemical modeling of tri-layer CPBAs has widely been studied in 4,23,24,28,30,[38][39][40][41] by considering a complicated 2D RC transmission line circuit with the diffusion impedance. However, Xun, et al 31 proposed a dynamic and accurate model by using a simple 2D-RC infinite circuit grid, where the diffusion impedance was neglected as presented in Fig. 2a.…”

“…R s is the possible short circuit resistance between the outer layers and δC 1,2 are the corresponding capacitances of outer layers. Following the work done by Xun, et al 31 To model the ionic and electronic behavior of the CP layers and the separator, the distributed model is further simplified 27,42 by considering the electrical, chemical and mechanical fields to be one-dimensional in the thickness direction as shown in Fig. 2b.…”

“…29 In order to control the deformation of conjugated polymer actuator, a model is developed in, 30 the capacitance of the CP layer was connected in series in contrast to the previous research. In a recent research work, 31 we have proposed an electro-mechanical nonlinear model and optimal control with good position tracking performance of CP actuator. The electronic model describes the evolution of charge state in time domain, while the mechanic model calculates the deformation of the CPBA.…”