Research On Adaptive Inverse Control For The Hysteresis And Creep Characteristics Of IPMC

IPMC (Ion-exchange polymer metal composite)is one kind of novel artificial intelligent materials. It has a lot of good properties, such as light weight, good flexibility, easily cut in any size and shape, and generating a large displacement when applied a low drive voltage. More importantly the performance of IPMC is similar to human muscle, so it is called artificial muscle. Hence, it is meaningful to research the property of IPMC in the fields of Micro-Electro-Mechanical System(MEMS), biological Medical and so on.This thesis firstly introduced three familiar hysteresis models:Preisach model,KP model and PI model, analyzed the properties of each model, and applied PI model to build the hysteresis property of IPMC in on-line identification. This thesis also explained the reason why the creep phenomenon happened in IPMC, introduced two familiar creep model, according to their properties chose the right one for the creep property of IPMC, and simulated by MATLAB. Finally, we added the hysteresis PI model and liner creep model to build the mix model of hysteresis and creep property of IPMC.Secondly this thesis applied on-line and off-line identification method to identify the parameters of hysteresis and creep model based on IPMC, selected LMS self-adapting filter method to identify the parameters of PI model, applied recursive weighted least squares algorithm to identify the parameter of creep model, and testified that the identification curve generated by the mix model is quite similar to the output curve of IPMC.Then this thesis employed adaptive inverse control strategy to compensate the hysteresis and creep property of IPMC. Built two adaptive inverse control structures, for the first one proved the existence and input and output stability of the inverse controller, deduced solution of the inverse controller simulate this control process with the m file of MATLAB and got good simulation results. Then revised the first structure to get a new structure, which had a higher operation speed than the first structure but at the expense of accuracy. Finally, applied MATLAB/SIMULINK to simulate the second control structure and got good simulation results.At last, this thesis used a SEED-DEC2812 DSP developing board to establish an adaptive inverse control system based on the property of hysteresis and creep of IPMC, got the experimental results and analyzed them.