Multi-scale distributed parameter modeling of ionic polymer-metal composite soft actuator

作者：Nishida Gou^*; Takagi Kentaro; Maschke Bernhard; Osada Takaaki

来源：Control Engineering Practice, 2011, 19(4): 321-334.

DOI：10.1016/j.conengprac.2010.10.005

• Multilevel systems
• Bond graphs
• Actuators
• Distributed parameter systems
• Modelling
• Boundary integral formulation

This paper describes the modeling of a soft actuator called an ionic polymer-metal composite (IPMC) by using distributed port-Hamiltonian (DPH) systems on multiple spatial scales. The multi-scale IPMC structure consists of an electric double layer, an electro-stress diffusion coupling and a flexible beam. The coupling of the structure can be modeled by the DPH systems with unidirectional energy flows on connecting boundaries of the subsystems, and it is called a boundary multi-scale coupling. The boundary multi-scale couplings derived from detailed models can be used for multi-scale retaining interconnections of various reduced models, e.g. numerical models with approximations.

• 出版日期2011-4