Distributed Parameter System Modeling
Authors
Kentaro Takagi, Gou Nishida, Bernhard Maschke, Kinji Asaka
Abstract
This chapter discusses a distributed parameter system modeling of ionic polymer-metal composite actuators based on modified Yamaue’s electro-stress diffusion coupling model. The lowest order linear time invariant state equation with the spatial variable is derived to carry out the simulation. An introductory method for simulation based on the state space model is also shown. The results of the simulation demonstrate the effectiveness of the derived model by showing the differences of the responses for the different cation species.
Keywords
Distributed port-Hamiltonian system; Ionic polymer-metal composite; Simulation; State space equation
Citation
- ISBN: 9784431547662
- Publisher: Springer Japan
- DOI: 10.1007/978-4-431-54767-9_23
BibTeX
@inbook{Takagi_2014,
title={{Distributed Parameter System Modeling}},
ISBN={9784431547679},
DOI={10.1007/978-4-431-54767-9_23},
booktitle={{Soft Actuators}},
publisher={Springer Japan},
author={Takagi, Kentaro and Nishida, Gou and Maschke, Bernhard and Asaka, Kinji},
year={2014},
pages={313--325}
}
References
- Bar-Cohen Y (ed) (2004) Electroactive polymer (eap) actuators as artificial muscles: reality, potential, and challenges. 2nd edn. SPIE Press, Washington (2004)
- Shahinpoor, M. & Kim, K. J. Ionic polymer-metal composites: I. Fundamentals. Smart Materials and Structures vol. 10 819–833 (2001) – 10.1088/0964-1726/10/4/327
- Mallavarapu, K. & Leo, D. J. Feedback Control of the Bending Response of Ionic Polymer Actuators. Journal of Intelligent Material Systems and Structures vol. 12 143–155 (2001) – 10.1106/vj5t-9jml-bhv8-m2cg
- Bao, X., Bar-Cohen, Y. & Lih, S.-S. <title>Measurements and macro models of ionomeric polymer-metal composites (IPMC)</title> SPIE Proceedings vol. 4695 220–227 (2002) – 10.1117/12.475167
- Newbury, K. M. & Leo, D. J. Linear Electromechanical Model of Ionic Polymer Transducers -Part I: Model Development. Journal of Intelligent Material Systems and Structures vol. 14 333–342 (2003) – 10.1177/1045389x03034976
- Yamakita, M., Kamamichi, N., Kaneda, Y., Asaka, K. & Luo, Z.-W. Development of an artificial muscle linear actuator using ionic polymer–metal composites. Advanced Robotics vol. 18 383–399 (2004) – 10.1163/156855304773822473
- Chen Z, Tan X, Shahinpoor M (2005) Quasi-static positioning of ionic polymer-metal composite (IPMC) actuators. Proceedings of the 2005 IEEE/ASME international conference on advanced intelligent mechatronics, pp 60–65
- Kothera, C. S. & Leo, D. J. Bandwidth Characterization in the Micropositioning of Ionic Polymer Actuators. Journal of Intelligent Material Systems and Structures vol. 16 3–13 (2005) – 10.1177/1045389x05046310
- Kang, S., Shin, J., Kim, S. J., Kim, H. J. & Kim, Y. H. Robust control of ionic polymer–metal composites. Smart Materials and Structures vol. 16 2457–2463 (2007) – 10.1088/0964-1726/16/6/049
- Chen, Z. & Tan, X. A scalable dynamic model for ionic polymer-metal composite actuators. SPIE Proceedings vol. 6927 69270I (2008) – 10.1117/12.776508
- Zheng Chen & Xiaobo Tan. A Control-Oriented and Physics-Based Model for Ionic Polymer–Metal Composite Actuators. IEEE/ASME Transactions on Mechatronics vol. 13 519–529 (2008) – 10.1109/tmech.2008.920021
- Yamakita, M., Sera, A., Kamamichi, N. & Asaka, K. Integrated Design of an Ionic Polymer–Metal Composite Actuator/Sensor. Advanced Robotics vol. 22 913–928 (2008) – 10.1163/156855308x315091
- Asaka, K. & Oguro, K. Bending of polyelectrolyte membrane platinum composites by electric stimuli. Journal of Electroanalytical Chemistry vol. 480 186–198 (2000) – 10.1016/s0022-0728(99)00458-1
- Gennes, P. G. de, Okumura, K., Shahinpoor, M. & Kim, K. J. Mechanoelectric effects in ionic gels. Europhysics Letters (EPL) vol. 50 513–518 (2000) – 10.1209/epl/i2000-00299-3
- Nemat-Nasser, S. & Li, J. Y. Electromechanical response of ionic polymer-metal composites. Journal of Applied Physics vol. 87 3321–3331 (2000) – 10.1063/1.372343
- Tadokoro, S., Fukuhara, M., Bar-Cohen, Y., Oguro, K. & Takamori, T. CAE approach in application of Nafion-Pt composite (ICPF) actuators: analysis for surface wipers of NASA MUSES-CN nanorovers. SPIE Proceedings vol. 3987 262 (2000) – 10.1117/12.387785
- Yamaue, T., Mukai, H., Asaka, K. & Doi, M. Electrostress Diffusion Coupling Model for Polyelectrolyte Gels. Macromolecules vol. 38 1349–1356 (2005) – 10.1021/ma047944j
- Wallmersperger, T., Leo, D. J. & Kothera, C. S. Transport modeling in ionomeric polymer transducers and its relationship to electromechanical coupling. Journal of Applied Physics vol. 101 (2007) – 10.1063/1.2409362
- L Ljung. Ljung L, Glad T (1994) Modeling of dynamic systems. Prentice Hall, Englewood Cliffs (1994)
- H. Khalil. H. Khalil (2002) Nonlinear systems. 3rd Ed., Prentice Hall, Englewood Cliffs (2002)
- van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics vol. 42 166–194 (2002) – 10.1016/s0393-0440(01)00083-3
- A Macchelli. Macchelli A, Maschke B (2009) Infinite-dimensional port-hamiltonian systems. Modeling and control of complex physical systems–the port-hamiltonian approach. Springer, NewYork (2009)
- Nishida, G., Takagi, K., Maschke, B. & Osada, T. Multi-scale distributed parameter modeling of ionic polymer-metal composite soft actuator. Control Engineering Practice vol. 19 321–334 (2011) – 10.1016/j.conengprac.2010.10.005
- Osada, T., Takagi, K., Hayakawa, Y., Zhi-Wei Luo & Asaka, K. State space modeling of ionic polymer-metal composite actuators based on electrostress diffusion coupling theory. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems 119–124 (2008) doi:10.1109/iros.2008.4650694 – 10.1109/iros.2008.4650694
- Takagi, K., Osada, T., Asaka, K., Hayakawa, Y. & Luo, Z.-W. Distributed parameter system modeling of IPMC actuators with the electro-stress diffusion coupling theory. SPIE Proceedings vol. 7287 72871Q (2009) – 10.1117/12.816012
- Asaka, K., Fujiwara, N., Oguro, K., Onishi, K. & Sewa, S. State of water and ionic conductivity of solid polymer electrolyte membranes in relation to polymer actuators. Journal of Electroanalytical Chemistry vol. 505 24–32 (2001) – 10.1016/s0022-0728(01)00445-4
- Takagi, K., Nakabo, Y., Luo, Z.-W. & Asaka, K. On a distributed parameter model for electrical impedance of ionic polymer. SPIE Proceedings vol. 6524 652416 (2007) – 10.1117/12.715554
- Farinholt, K. M. & Leo, D. J. Electrical impedance modeling of ionic polymer transducers. SPIE Proceedings vol. 5761 69 (2005) – 10.1117/12.600229
- Takagi K, Jikuya I, Nishida G, Maschke B, Asaka K (2009) A study on the discretization of a distributed RC circuit model. Proceedings ICCAS-SICE 2009, pp 677–680
- http://www.gnu.org/software/octave/
- http://www.scilab.org/
- http://www.netlib.org/