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.
2017
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]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11589/122997
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