Modeling of IPMC actuator using cascaded black box model of Preisach operator and fuzzy NARX structure

Doan Ngoc Chi Nam,Jong Il Yoon,Dinh Quang Truong,Kyoung Kwan Ahn 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10

An ionic polymer metal composite (IPMC) actuator is an Electro-Active Polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network. This paper proposes a cascaded model of Preisach operator and fuzzy Nonlinear Auto Regressive Exogenous (NARX) structure for modeling and identifying the nonlinear behavior of on type IPMC actuator. Firstly, a set of open loop input voltage signals were applied to the IPMC in order to investigate the IPMC bending actuation. Consequently, Secondly, a proper Preisach type fuzzy NARX model is developed with one input and one output to estimate the IPMC tip displacement. By employing the collected training data, an identification scheme based on incorporation of least square method and Particle Swarm Optimization (PSO) algorithm is then carried out to tune the model parameters.

Identification of Ionic Polymer Metal Composite Actuator Employing fuzzy NARX model and Particle Swam Optimization

Doan Ngoc Chi Nam,Dinh Quang Truong,Yoon Jong Il,Ahn Kyoung Kwan 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10

An ionic polymer metal composite (IPMC) actuator is an Electro-Active Polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network. This paper proposes a dynamic fuzzy Nonlinear Auto Regressive Exogenous (NARX) model for modeling and identifying the nonlinear behavior of on type IPMC actuator. Firstly, a set of open loop input voltage signals were applied to the IPMC in order to investigate the IPMC bending actuation. Consequently, a proper fuzzy NARX model was constructed and an identification scheme based on Particle Swam Optimization (PSO) algorithm was developed. Validation results proved the ability of proposed scheme to capture the bending behaviors of IPMC actuator.

A novel design technique for IPMC diaphragm in micropump application

Doan Ngoc Chi Nam,Yoon Jong Il,Ahn Kyoung Kwan 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

Micropumps have gained a great potential to be applied as biomedical devices and micro systems. Because of low driven voltage, flexible operation, and self sensing ability, the ionic polymer metal composite (IPMC) material has been used as diaphragm of micropumps. This paper presents a novel design technique of IPMC diaphragm with numerical results about deformation capabilities and makes the design process of IPMC diaphragm be more convenient. The technique starts from a physical induced stress model of IPMC actuators, where the induced stress information inside the IPMC can be obtained corresponding to the input voltage signal. The induced stress model is achieved by solving the partial differential equation (PDE) of charging density along the IPMC thickness. Next, the induced stress information is imported into the ANSYS finite element model as deforming mechanism. Via ANSYS environment, the deformation of IPMC actuator can be visually analyzed. Using this technique, a novel design of IPMC diaphragm is then investigated and the optimized design of IPMC diaphragm for micropump is obtained.

Precision Control for Ionic Polymer Metal Composite Actuator Based on Quantitative Feedback Theory

Doan Ngoc Chi Nam,Dinh Quang Truong,Yoon Jong Il,Ahn Kyoung Kwan 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10

An ion polymer metal composite (IPMC) is an Electro-Active Polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. Recently, IPMC is widely applied in many fields such as biometric, biomedical and micro manipulator fields. This paper proposes a robust position controller for IPMCs which is based on the quantitative feedback theory (QFT). Firstly, the IPMC actuation was investigated. The PRBS input voltage signals were applied to the IPMC in order to identify the system characteristic. Consequently, the QFT controller for the IPMC was designed from the identified IPMC model. Experiments were carried out to validate the effectiveness of proposed controller applied to the IPMC.

Design and Modeling of an Innovative Wave Energy Converter Using Dielectric Electro-active Polymers Generator

PHANCONG BINH,Doan Ngoc Chi Nam,안경관 한국정밀공학회 2015 International Journal of Precision Engineering and Vol. No.

This paper proposes a design and modeling of an innovative wave energy converter using Dielectric electro active polymer (DEAP). Firstly, an accurate model of conventional DEAP generator is investigated and validated under a specific range of ocean waves. Then, a structure design of an antagonistic DEAP generator so-called energy capture unit (ECU), which consists of two DEAPs in antagonistic connection mode to increase harvested energy efficiency, is modeled and validated by experimental data. A new design of WECs is then developed with array of ECUs to increase the output energy. In addition, by using the linear potential wave theory, the hydrodynamic forces are calculated under regular wave conditions. Consequently, a complete analytical model of the proposed WECs using multiple ECUs under hydrodynamic behavior is then obtained to investigate the performance of energy conversion. Finally, based on the developed analytical model, the stretch ratio known as an important factor to efficiency and output power is investigated under the influence of the floating buoy’s mass. Then, the resonance behavior of the WECs with a typical wave frequency can be tuned by optimizing the floating’s mass to increase the degree of utilization of the device. The simulation results indicate that the efficiency of wave energy converter can be up to 25% thanks to resonance behavior.

Modeling and Experimental Investigation on Dielectric Electro-Active Polymer Generator

Binh, Phan Cong,Nam, Doan Ngoc Chi,Ahn, Kyoung Kwan Korean Society for Precision Engineering 2015 International Journal of Precision Engineering and Vol.16 No.5

Dielectric electro-active polymers (DEAP) have been attracted for the energy harvesting application due to its low cost, lightweight and flexible deformation capability. This paper presents a validated model and experimental investigation on energy conversion of a typical DEAP generator. Firstly, a dynamics model based on Mooney-Rivlin proposition is developed to describe the strain - force relationship of DEAP material. Then, the effect of charging voltages and energy conversion are also taken into account. In addition, identification processes are done separately for stretching and relaxing strokes using an adaptive PSO scheme to find best material parameters for the model. This makes the model be available to describe the sinusoidal strain forms in practical conditions. The validated model is then employed in investigating input mechanical energy, return energy and conversion energy for the DEAP generator. Experimental evaluations show that the developed model can describe the behavior of DEAP material accurately. Finally, analyses based on the energy conversion demonstrate the abilities of DEAP material as wave energy converter.

Adaptive Backstepping Control of an Electrohydraulic Actuator

Kyoung Kwan Ahn,Doan Ngoc Chi Nam,Maolin Jin IEEE 2014 IEEE/ASME transactions on mechatronics Vol.19 No.3

<P>This paper presents an adaptive position control for a pump- controlled electrohydraulic actuator (EHA) based on an adaptive backstepping control scheme. The core feature of this paper is the combination of a modified backstepping algorithm with a special adaptation law to compensate all nonlinearities and uncertainties in EHA system. First of all, the mathematical model of the EHA is developed. The position control is then formulated using a modified backstepping technique and the uncertainties in hydraulic system are adapted by employing a special Lyapunov function. The control signal consists of an adaptive control signal to compensate the uncertainties and a simple robust structure to ensure the robustness corresponding to a bounded disturbance. Experimental results proved strongly the ability of the proposed control method.</P>

Design and Modeling of an Innovative Wave Energy Converter Using Dielectric Electro-active Polymers Generator

Binh, Phan Cong,Nam, Doan Ngoc Chi,Ahn, Kyoung Kwan Korean Society for Precision Engineering 2015 International Journal of Precision Engineering and Vol.16 No.8

This paper proposes a design and modeling of an innovative wave energy converter using Dielectric electro active polymer (DEAP). Firstly, an accurate model of conventional DEAP generator is investigated and validated under a specific range of ocean waves. Then, a structure design of an antagonistic DEAP generator so-called energy capture unit (ECU), which consists of two DEAPs in antagonistic connection mode to increase harvested energy efficiency, is modeled and validated by experimental data. A new design of WECs is then developed with array of ECUs to increase the output energy. In addition, by using the linear potential wave theory, the hydrodynamic forces are calculated under regular wave conditions. Consequently, a complete analytical model of the proposed WECs using multiple ECUs under hydrodynamic behavior is then obtained to investigate the performance of energy conversion. Finally, based on the developed analytical model, the stretch ratio known as an important factor to efficiency and output power is investigated under the influence of the floating buoy's mass. Then, the resonance behavior of the WECs with a typical wave frequency can be tuned by optimizing the floating's mass to increase the degree of utilization of the device. The simulation results indicate that the efficiency of wave energy converter can be up to 25% thanks to resonance behavior.

Estimation of Bending Behavior of an Ionic Polymer Metal Composite Actuator Using a Nonlinear Black-Box Model

Dinh Quang Truong,Kyoung Kwan Ahn,Doan Ngoc Chi Nam,Jong Il Yoon 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10

An ion polymer metal composite (IPMC) is an electro-active polymer that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. This paper presents a novel accurate nonlinear black-box model (NBBM) for estimating the bending behavior of IPMC. The NBBM is based on a recurrent multi-layer perceptron neural network (RMLPNN) and a self-adjustable learning mechanism (SALM). The model parameters are optimized by using training data. A comparison of the estimated and real IPMC bending characteristic has been done to investigate the modeling ability of the designed NBBM.

Identification of a nonlinear black-box model for a self-sensing polymer metal composite actuator

Truong, Dinh Quang,Ahn, Kyoung Kwan,Nam, Doan Ngoc Chi,Yoon, Jong Il Institute of Physics Publishing 2010 Smart materials & structures Vol.19 No.8

<P>An ion polymer metal composite (IPMC) is an electro-active polymer that bends in response to a small applied electrical field as a result of the mobility of cations in the polymer network and vice versa. The aim of this paper is the identification of a novel accurate nonlinear black-box model (NBBM) for IPMC actuators with self-sensing behavior based on a recurrent multi-layer perceptron neural network (RMLPNN) and a self-adjustable learning mechanism (SALM).</P><P> Firstly, an IPMC actuator is investigated. Driving voltage signals are applied to the IPMC in order to identify the IPMC characteristics. Secondly, the advanced NBBM for the IPMC is built with suitable inputs and output to estimate the IPMC tip displacement. Finally, the model parameters are optimized by the collected input/output training data.</P><P> Modeling results show that the proposed self-sensing methodology based on the optimized NBBM model can well describe the bending behavior of the IPMC actuator corresponding to its applied power without using any measuring sensor. </P>