Authors

Ning Liu, Yongxin Wu, Yann Le Gorrec

Abstract

In this paper, a constrained distributed parameter port-Hamiltonian model of the ionic polymer metal composite actuator is proposed. This model describes the multiscale structure of the system. Submodels are coupled by boundary multi-scale elements. In order to preserve the causality of the system, Lagrangian multipliers are introduced to deal with the coupling between the electro-stress diffusion in the polymer and the flexible beam structure of the actuator. Finally, a structure-preserving discretization scheme and some appropriate projections are used to derive an explicit model suitable for simulation. The accuracy of the model is verified using experimental data.

Keywords

Constrained port Hamiltonian system; infinite dimensional system; multi-scale modeling; model reduction; IPMC actuator

Citation

  • Journal: IFAC-PapersOnLine
  • Year: 2019
  • Volume: 52
  • Issue: 15
  • Pages: 495–500
  • Publisher: Elsevier BV
  • DOI: 10.1016/j.ifacol.2019.11.724
  • Note: 8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019- Vienna, Austria, 4–6 September 2019

BibTeX

@article{Liu_2019,
  title={{Constrained port Hamiltonian formulation of multiscale distributed parameter IPMC systems}},
  volume={52},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2019.11.724},
  number={15},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Liu, Ning and Wu, Yongxin and Gorrec, Yann Le},
  year={2019},
  pages={495--500}
}

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References