Modeling and control of IPMC for micro-manipulation

Author

Xue, Dingyu ; Chen, Zhen ; Hao, Lina ; Xu, Xinhe ; Liu, Yanmei

Author_Institution

Sch. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China

fYear

2010

Firstpage

2401

Lastpage

2405

Abstract

The deformation of the cantilever caused by manipulation force is one of the most major nonlinearities and uncertainties during manipulation. It causes difficulties in precisely controlling the tip position, which will cause the tip to miss the position of the object. In order to solve this problem, in this paper, the dynamics model of piezoelectric smart cantilever beam based on ionic polymer metal composite (IPMC) as material of the active probe is researched. The active vibration optional control method based on LQR of piezoelectric smart cantilever beam is designed. The control system is simulated. The simulation results verified the validity of the model and effectiveness of the controller.

Keywords

beams (structures); cantilevers; composite materials; control system synthesis; design engineering; micromanipulators; piezoelectric actuators; polymers; vibration control; IPMC control; LQR; active vibration optional control method; cantilever deformation; ionic polymer metal composite; manipulation force; micromanipulation; piezoelectric actuator; piezoelectric smart cantilever beam; Electric potential; Equations; Force; Polymers; Probes; Sensors; IPMC; LQR; Modeling; controller; piezoelectric smart cantilever beam;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2010 8th World Congress on

Conference_Location

Jinan

Print_ISBN

978-1-4244-6712-9

Type

conf

DOI

10.1109/WCICA.2010.5554381

Filename

5554381