| Project/Area Number |
20560235
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Gifu University |
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Principal Investigator |
SASAKI Minoru Gifu University, 工学部, 教授 (20183379)
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| Co-Investigator(Kenkyū-buntansha) |
TAMAGAWA Hirohisa 岐阜大学, 工学部, 助教 (60324282)
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| Project Period (FY) |
2008 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2010: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2009: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2008: ¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
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| Keywords | ソフトメカニクス / IPMC / イオン交換膜 / アクチュエータ / 屈曲制御 / Feedforward / Feedback / Two-Degree-of-Freedom / 親水性電解質高分子 / セルフセンシング / 制御 / 同定 / 動特性 |
|---|
| Research Abstract |
Ionic Polymer-Metal Composite (IPMC) is one of electroactive polymer actuators. It can be activated even by a ordinary dry cell battery. So, IPMC is a low energy consumption bending mode actuator. Control of its bending is a quite difficult task. Usually IPMC bending control is carried out merely by alternately changing polarity of voltage imposed on the IPMC according to the circumstances. It is a quite impractical way of bending control. In this study, we attempted to establish a controlling technique of IPMC bending based on the control theory. A transfer function of the IPMC was derived by FFT analysis. Employing the derived transfer function, we carried out bending control of IPMC by the methods of Feedforward, Feedback and Two-Degree-of-Freedom controls. It turned out that all three methods sufficiently well controlled the IPMC bending. Especially, Feedback and Two-Degree-of-Freedom controls made it possible to precisely control the IPMC bending.
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