This paper deals with the modeling and position control of an ElectroActive Polymer (EAP) actuator system consisting in a combination of an EAP membrane and a mass-spring biasing mechanism. First, a description of the biasing system is provided, and a physical-based dynamic model is derived for the whole system. Then, the model is used for the identification of an experimental actuator, and for the subsequent design of a position control. A simple but effective method is presented in order to compensate the model nonlinearities and achieve fast positioning. Simulation stage is used for testing several control strategies, in order to choose the most suitable one to be integrated in the experimental system. © 2013 IEEE.
Modeling and position control of an electromechanical actuator based on a mass-spring-biased EAP system / Rizzello, Gianluca; Naso, David; York, Alexander; Seelecke, Stefan. - (2013). (Intervento presentato al convegno IEEE 18th International Conference on Emerging Technologies and Factory Automation, ETFA 2013 tenutosi a Cagliari, Italy nel September 10-13, 2013) [10.1109/ETFA.2013.6648039].
Modeling and position control of an electromechanical actuator based on a mass-spring-biased EAP system
RIZZELLO, Gianluca;NASO, David;
2013-01-01
Abstract
This paper deals with the modeling and position control of an ElectroActive Polymer (EAP) actuator system consisting in a combination of an EAP membrane and a mass-spring biasing mechanism. First, a description of the biasing system is provided, and a physical-based dynamic model is derived for the whole system. Then, the model is used for the identification of an experimental actuator, and for the subsequent design of a position control. A simple but effective method is presented in order to compensate the model nonlinearities and achieve fast positioning. Simulation stage is used for testing several control strategies, in order to choose the most suitable one to be integrated in the experimental system. © 2013 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
