Nonlinear identification of ionic polymer actuator systems

Curt S. Kothera; Seth L. Lacy; R. Scott Erwin; Donald J. Leo

doi:10.1117/12.541172

26 July 2004 Nonlinear identification of ionic polymer actuator systems

Curt S. Kothera, Seth L. Lacy, R. Scott Erwin, Donald J. Leo

Proceedings Volume 5383, Smart Structures and Materials 2004: Modeling, Signal Processing, and Control; (2004) https://doi.org/10.1117/12.541172
Event: Smart Structures and Materials, 2004, San Diego, CA, United States

Abstract

Ionic polymers are a class of electromechanically coupled materials that can be used as flexible transducers. When set up in the cantilever configuration, the actuators exhibit a large bending deflection when an electric field is applied across their thickness. Being a relatively new research topic, the governing physical and chemical mechanisms are not yet fully understood. Experimental results have demonstrated nonlinear dynamic behavior. The nonlinear dynamics can be seen in the response of current, displacement, and velocity of the actuator. This work presents results for the nonlinear identification of ionic polymer actuator systems driven at a specific frequency. Identification results using a 5th-degree Volterra expansion show that the nonlinear distortion can be accurately modeled. Using such a high power in the series expansion is necessary to capture the most dominant harmonics, as evidenced when examining the power spectral density of the response. An investigation of how nonlinearities enter into the response is also performed. By analyzing both the actuation current and tip velocity, results show that both the voltage to current and current to velocity stages influence the nonlinear response, but the voltage to current stage is more dominantly nonlinear.

Citation Download Citation

Curt S. Kothera, Seth L. Lacy, R. Scott Erwin, and Donald J. Leo "Nonlinear identification of ionic polymer actuator systems", Proc. SPIE 5383, Smart Structures and Materials 2004: Modeling, Signal Processing, and Control, (26 July 2004); https://doi.org/10.1117/12.541172

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