Identification of a Nonlinear Dielectric Elastomer Actuator Based on the Harmonic Balance Method

Bernat, Jakub; Kołota, Jakub; Rosset, Samuel

doi:10.1109/tmech.2020.3044492

Cited by 13 publications

(20 citation statements)

References 39 publications

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“…The function σ h (y) determines the hyperelastic stress [2], [25] modeled with coefficients β i and γ i . The auxiliary function s(y) introduced in [2] simplifies the notation of model but s(y) is also a radial stretch of membrane [2], [12]. The function σ v1 , σ v2 describes a viscoelasticity effects:…”

Section: A Modelmentioning

confidence: 99%

“…where η 2 is the damping coefficient. In the work [12] it was enough to use 3 coefficients to model viscoelasticity of DEAP membrane. However, in different conditions the more time constants were required [26].…”

Section: A Modelmentioning

confidence: 99%

“…Therefore, only the static characteristics is required to be exactly identified in the proposed control scheme. The presented identification process is inspired by the previous works that described how to find the model of DEAP actuator in various conditions [2], [12]. To identify the parameters required for ADRC control scheme, the open loop voltage signal was applied to controller.…”

Section: A Identificationmentioning

confidence: 99%

“…In the recent time, the applications like pump system [6], high speed actuators [7] or robotics system [8] show a practical applications of DEAP actuators. However, DEAP actuators require precise parameter identification and exhibit nonlinear time-dependent strain due to their inherent viscoelastic properties [9]- [12]. The basic structure of DEAP actuator is composed of a polymer membrane sandwiched between two compliant conductive electrodes [3].…”

Section: Introductionmentioning

confidence: 99%

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Active Disturbance Rejection Control for Dielectric Electroactive Polymer Actuator

Bernat

Kołota

2021

IEEE Access

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This paper presents the Active Disturbance Rejection Control (ADRC) designed for a Dielectric Electroactive Polymer (DEAP) actuator. ADRC has gained popularity in recent years as an effective alternative approach to solving control problem in relation to classic PID controller and the modelbased approach. It is a valuable control methodology due to its simple tuning method and robustness against process parameter variations. The novelty of this article is a simple control method of DEAP actuator based on ADRC schema. This work presents a method of identifying the parameters of the actuator model necessary to develop the ADRC control. Then Linear Extended State Observer (LESO) was developed which is used for compensating the effects of total disturbance. The linear proportional-derivative (PD) controller, which in ADRC control scheme can be considered as a state feedback controller, has been implemented in the external feedback loop. This approach makes it possible to use the system with a simplified DEAP model, because the negative effects of modeling uncertainty are compensated in real time. The tuning process of ADRC parameters (performed in the terms of LESO and PD controller bandwidth) is discussed and presented graphically. The experiments show the transients of the ADRC control system and the performance indexes of the two reference trajectories in order to verify the the effectiveness of the control system.

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Section: A Modelmentioning

confidence: 99%

Section: A Modelmentioning

confidence: 99%

Section: A Identificationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Active Disturbance Rejection Control for Dielectric Electroactive Polymer Actuator

Bernat

Kołota

2021

IEEE Access

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“…Accurate modeling of the DEAP actuator phenomena is important for designers working with these materials. It is an important problem which is still extensively analyzed in the literature [2,[4][5][6]. One of the interesting issues is the analysis of actuator shapes.…”

Section: Introductionmentioning

confidence: 99%

Modeling of Dielectric Electroactive Polymer Actuators with Elliptical Shapes

Bernat

Kołota

2021

Energies

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Dielectric electroactive polymers have been widely used in recent applications based on smart materials. The many advantages of dielectric membranes, such as softness and responsiveness to electric stimuli, have lead to their application in actuators. Recently, researchers have aimed to improve the design of dielectric electroactive polymer actuators. The modifications of DEAP actuators are designed to change the bias mechanism, such as spring, pneumatic, and additional mass, or to provide a double cone configuration. In this work, the modification of the shape of the actuator was analyzed. In the standard approach, a circular shape is often used, while this research uses an elliptical shape for the actuator. In this study, it was shown that this construction allows a wider range of movement. The paper describes a new design of the device and its model. Further, the device is verified by the measurements.

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Analyzing deformation factors in six-segment dielectric elastomer actuator grippers: a finite element method-based numerical simulation

Li,

Guo

2024

Appl. Phys. A

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Identification of a Nonlinear Dielectric Elastomer Actuator Based on the Harmonic Balance Method

Cited by 13 publications

References 39 publications

Active Disturbance Rejection Control for Dielectric Electroactive Polymer Actuator

Active Disturbance Rejection Control for Dielectric Electroactive Polymer Actuator

Modeling of Dielectric Electroactive Polymer Actuators with Elliptical Shapes

Analyzing deformation factors in six-segment dielectric elastomer actuator grippers: a finite element method-based numerical simulation

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