Design and Control Strategies for a Novel Actuator System with Dielectric Electroactive Polymer and Spring
X. Zhang, A. Verhagen
Robert Bosch GmbH, Renningen, Germany
Q. Zhu, Karlsruher Institut für Technologie, Karlsruhe, Germany
S. Hau, S. Seelecke
Universität des Saarlandes, Saarbrücken, Germany
A novel actuator, which is made from dielectric electroactive polymer and a spring system, has been developed and produced at the University of Saarland in cooperation with the Robert Bosch GmbH. In our research work the control concepts for this actuator are elaborated and investigated. The main problem to use such a novel actuator system is the instability, which means that the actuator cannot be stabilized at some given position. Goal of this research work is to develop and evaluate control concepts, which make the nonlinear actuator system stretch to a desired position on one side and stabilize at this given position at the other side.
At first a physical model of the whole actuator system including the dielectric elastomer (DE), linear and nonlinear spring is built within the scope of this work. The hyperelastic behavior of the DE material is approximated by the Ogden model. The model was validated with data from real measurement. The biased linear spring and nonlinear spring are described by characteristic curves which are derived from measurement data. Secondly the instability problem is investigated and solved through a nonlinear control concept which uses the gain-scheduling method and is based on the physical model developed before. With help of the gain scheduling method different linear controller are designed and compared, e.g. the PID-controller with Ziegler-Nichols design, compensator with root locus design and robust controller with H∞-method. At the end the robustness of different controller designs are discussed and several conclusions are made.
ACTUATOR 2016 Manuscript P 32
Publication date: 01/06/2016
Manuscript P 32 published in Conference Proceedings ACTUATOR 2016
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