High precision control of High polymer actuator

2014 Fiscal Year Final Research Report

• Project/Area Number: 24560291
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Gifu University
• Principal Investigator: SASAKI MINORU 岐阜大学, 工学部, 教授 (20183379)
• Co-Investigator(Kenkyū-buntansha): TAMAGAWA Hirohisa 岐阜大学, 工学部, 准教授 (60324282)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Keywords: 導電性高分子 / IPMC / 高分子アクチュエータ / 高精度制御 / フィードフォワード制御 / フィードバック制御

Outline of Final Research Achievements

This reserach presents the modeling and two-degree-of-freedom motion control of an Ionic Polymer-Metal Composite actuator with hysteresis compensation. It has been demonstrated that with correctly applied voltage, the hysteresis effect can be substantially reduced. However, there still remains the problem of control. The two-degree-of-freedom-control is a robust control technique that is effective for this actuator. The IPMC position control by the feedforward control employing inverse system and feedback control using a current sensing circuit was carried out. It consists of a feed-forward controller based on an inverse system and a stabilizing feedback controller. Both experimental and numerical results are presented and show the ef-fectiveness of both the control technique and the modeling method with the robustness.

Free Research Field

知能機械