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MODELING, IDENTIFICATION, CONTROL OF DEAP SMART ACTUATOR AND APPLICATION TO MICROPUMP : DEAP 스마트 액츄에이터의 모델링, 추정, 제어 와 마이크로펌프에서의 응용 원문보기

  • 저자

    부이 옥 민 충

  • 학위수여기관

    울산대학교

  • 학위구분

    국내박사

  • 학과

    기계자동차공학과

  • 지도교수

    Prof. Ahn Kyoung Kwan (안경관)

  • 발행년도

    2014

  • 총페이지

    130

  • 키워드

  • 언어

    eng

  • 원문 URL

    http://www.riss.kr/link?id=T13540267&outLink=K  

  • 초록

    Dielectric electro active polymers (DEAP) form an important category of electronic electro active polymers, also known as smart materials. DEAP have many potential applications in sensors, actuators and energy harvesting. In this dissertation, a prospective system is taken to explore the potential of these novel materials in the field of smart actuator. In particular, this investigation includes modeling, identification, and control of hysteresis for one typical DEAP smart actuator, and an application based on the taken DEAP smart actuator is then proposed and investigated. The starting point of this study is to model the hysteresis behavior existed in the DEAP smart actuator. The hysteresis model is derived based on the rate-independent property of the classical Preisach hysteresis model. However, due to the restriction on accuracy of the modeled output and the rate-dependent hysteresis behavior of the actuator, the rate-dependent forward hysteresis model is then proposed by combining the designed hysteresis model and the dynamic nonlinear auto regressive exogenous (NARX) fuzzy model-based adaptive particle swarm optimization (APSO) algorithm in order to characterize the nonlinear behaviors and hysteresis phenomenon of the system. In the meanwhile, according to the increasing or decreasing of the desired output behaviors of the actuator, an approximate inverse hysteresis model is designed and approximated in order to realize the inverse characteristic of the actuator. Then develop a model based controller based on the proposed hysteresis models to serve the control problems of the system. Position control problem of the DEAP smart actuator is necessary while using the actuator as the actuation mechanism for a system. As a results, the second aspect of this study is to develop the internal model control (IMC) strategy employing the proposed forward and inverse hysteresis models to proceed the position control problems of the system. The forward hysteresis model using the Preisach type NARX fuzzy-based APSO algorithm shows the approximating and estimating capabilities of the nonlinear hysteresis characteristic of the system. The most advantage of the approximate inverse hysteresis compensation is its simple in mathematical structure and satisfies the ability of sufficiently fast algorithm for the real-time implementation. The experiments ensure that the proposed control strategy can potentially be applied to the system with model mismatch, disturbance and hysteresis phenomenon. Since the application based on the DEAP smart actuator is required to validate the effectiveness and performance of the designed models and the proposed controller, the third aspect of this study is to develop a DEAP smart actuator based diaphragm micropump and to employ the proposed control strategy to obtain accurate performance for the application. The application has advantages such as low operational control voltage, consumes less energy for actuation, and produces larger force and displacement of the diaphragm as compared to other conventional methods. In particular, it is simple in design, ease of manufacturing and fabricating, and useful for using in devices that need to be isolated by magnetic field such as medical devices or in no working-noise equipment. On another hand, the important achievement of this proposal is to help to investigate the hysteresis influence of the actuator on the time-average flow rate of the micropump. The experiments have once again proved the effectiveness of the controller in controlling a DEAP smart actuator based system


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