【摘要】 IPMC是一类被称为人工肌肉的电活性智能材料,在微机电系统、生物医学、仿生机构等领域都具有很好的应用前景。分数阶微积分中微分、积分的阶次可以是分数,能够更精准地描述实际系统的动态响应。为了说明分数阶模型比传统整数阶模型能够更精确的描述具有非整数阶动力学特性的IPMC驱动系统,首先根据IPMC驱动器输入信号与输出响应的实验数据得到实际频率响应伯德图;然后,结合实验数据应用Levy频域辨识算法分别建立了IPMC的整数阶模型和分数阶模型;最后,比较两类模型和实验数据的频域响应伯德图,可见分数阶模型和实验数据的伯德图拟合效果更精确,所以对于具有非整数阶动力学特性的IPMC驱动系统应该使用分数阶模型来描述和研究。更多还原

【Abstract】 IPMC is a kind of electro- active intelligent material which is known as artificial muscle. It has good prospects in the fields of micro- electro- mechanical systems,biomedical,bionic institutions. The order of differentiation or integration can be a fraction in fractional calculus. It can describe the dynamic response of actual system more accurately. In order to illustrate the fractional model of IPMC can describe non- integer- order IPMC dynamics system more accurately than the traditional integer- order model of IPMC. First,the actual frequency response Bode diagram was obtained according to the experimental data of driver input signal and IPMC output response. Then,The integer order model and fractional order model of IPMC were established applying Levy frequency domain identification algorithms based on the measured data. Finally,the experimental data frequency response Bode diagram and two models Bode diagrams were compared. The Bode diagrams fitting results of fractional order model and the experimental data was more accurate. So that fractional model should be used to describe and research IPMC drive system with characteristics of non- integer order dynamics.更多还原