This paper develops a position self-sensing approach for a motion actuator based on a dielectric elastomer membrane. The proposed method uses voltage and current measurements to estimate the electrical resistance and capacitance online by means of a high-frequency low-Amplitude voltage component injected in the actuation signal. The actual deformation is subsequently reconstructed using a model-based estimate of the electrical parameters implemented on a field programmable gate array platform (FPGA) with a sampling frequency of 20 kHz. The main peculiarity of the approach is the use of recursive identification and filtering algorithms that avoid the need of charge measurements. The self-sensing algorithm is extensively validated on a precision linear-motion actuator, which uses a nonlinear biasing system to obtain large actuation strokes.
A Self-Sensing Approach for Dielectric Elastomer Actuators Based on Online Estimation Algorithms / Rizzello, G.; Naso, D.; York, A.; Seelecke, S.. - In: IEEE/ASME TRANSACTIONS ON MECHATRONICS. - ISSN 1083-4435. - STAMPA. - 22:2(2017), pp. 728-738. [10.1109/TMECH.2016.2638638]
A Self-Sensing Approach for Dielectric Elastomer Actuators Based on Online Estimation Algorithms
Rizzello, G.;Naso, D.;
2017-01-01
Abstract
This paper develops a position self-sensing approach for a motion actuator based on a dielectric elastomer membrane. The proposed method uses voltage and current measurements to estimate the electrical resistance and capacitance online by means of a high-frequency low-Amplitude voltage component injected in the actuation signal. The actual deformation is subsequently reconstructed using a model-based estimate of the electrical parameters implemented on a field programmable gate array platform (FPGA) with a sampling frequency of 20 kHz. The main peculiarity of the approach is the use of recursive identification and filtering algorithms that avoid the need of charge measurements. The self-sensing algorithm is extensively validated on a precision linear-motion actuator, which uses a nonlinear biasing system to obtain large actuation strokes.File | Dimensione | Formato | |
---|---|---|---|
VQR3-Tmec.pdf
accesso aperto
Descrizione: Accepted version
Tipologia:
Documento in Post-print
Licenza:
Tutti i diritti riservati
Dimensione
910.04 kB
Formato
Adobe PDF
|
910.04 kB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.