Closed-loop control of a core free rolled EAP actuator

Rahimullah Sarban; Jakob Oubaek; Richard W. Jones

doi:10.1117/12.815433

6 April 2009 Closed-loop control of a core free rolled EAP actuator

Rahimullah Sarban, Jakob Oubaek, Richard W. Jones

Proceedings Volume 7287, Electroactive Polymer Actuators and Devices (EAPAD) 2009; 72870G (2009) https://doi.org/10.1117/12.815433
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2009, San Diego, California, United States

Abstract

Tubular dielectric electro-active polymer actuators, also referred as tubular InLastors, have many possible applications. One of the most obvious is as a positioning push-type device. This work examines the feedback closed-loop control of a core-free tubular InLastor fabricated from sheets of PolyPowerTM, an EAP material developed by Danfoss PolyPower A/S, which uses a silicone elastomer in conjunction with smart compliant electrode technology. This is part of an ongoing study to develop a precision positioning feedback control system for this device. Initially proportional and integral (PI) control is considered to provide position control of the tubular InLastor. Control of the tubular Inlastors require more than conventional control, used for linear actuators, because the InLastors display highly nonlinear static voltage-strain and voltage-force characteristics as well as dynamic hysteresis and time-dependent strain behavior. In an attempt to overcome the nonlinear static voltage-strain characteristics of the Inlastors and for improving the dynamic performance of the controlled device, a gain scheduling algorithm is then integrated into the PI controlled system.

Citation Download Citation

Rahimullah Sarban, Jakob Oubaek, and Richard W. Jones "Closed-loop control of a core free rolled EAP actuator", Proc. SPIE 7287, Electroactive Polymer Actuators and Devices (EAPAD) 2009, 72870G (6 April 2009); https://doi.org/10.1117/12.815433

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