【摘要】 离子聚合物-金属复合材料(IPMC)具有良好的电-机械特性,由于致动性能类似于生物肌肉,因此受到广泛关注。频域建模方法在处理动力学系统和非常定线性动力学系统的参数辨识方面具有独特的优点。为了针对IPMC驱动器精确地建立数学模型并实现最优控制,首先根据驱动实验数据应用加权Levy算法在频域建立了IPMC驱动器的整数阶模型和分数阶模型,比较两种模型的拟合效果,确定采用拟合精度较高的分数阶模型来描述IPMC非整数阶动力学特性。然后对IPMC分数阶模型应用Optim FOPID界面控制器分别设计了整数阶PID控制器和最优分数阶PIλDμ控制器。最后比较控制效果,可见最优分数阶控制的响应更快,超调量更小,且通频带更宽,可用于实现对IPMC驱动器的精确控制。更多还原

【Abstract】 There are good electrical-mechanical properties of IPMC. Since the actuator properties of IPMC similar to biological muscles,it attracts widespread attention. There are distinct advantages that frequency domain modeling deals with parameters identification of linear dynamical system or very definite linear dynamical system. In order to establish the mathematical model accurately for the IPMC drive and achieve optimal control. First,the Levy weighted algorithm is applied to establish IPMC drive integer order model and fractional order model based on experimental data in frequency domain. The fitting results of two models are compared. So fractional order model with high fitting precision is determined to use describe IPMC non-integer order dynamics characteristics. Then,the integer-order PID controller and optimal fractional-order controller are designed for IPMC fractional model by OptimFOPID Interface Controller. Finally,the control effect is compared. There are faster respond,smaller overshoot and wider pass band of fractional order optimal control. So it can be used to achieve control of the drive IPMC precisely.更多还原