基于IPMC 驱动的自主微型机器鱼

本文从微小型鱼类的运动和受力分析入手,基于人工肌肉IPMC（离子聚合物金属复合材料）的特性, 进行微型机器鱼的结构和控制系统的设计．在此基础上实现仿小型鱼类的各种运动模式,然后,讨论了IPMC 驱动 器推进效率的优化．实验结果证明,基于IPMC 的厘米级机器鱼是可行的：通过改变控制信号的频率和占空比,实 现微型机器鱼的速度控制;通过控制胸鳍和尾鳍,实现上浮、下潜、转弯、巡游等运动模式．最后从尾鳍推进器的结 构角度分析了如何提高推进效率．     

基于国产平台的VPX架构IPMC控制器设计

针对VPX架构体系中由于IPMC未能完全按照规范要求设计而引发的一系列兼容性问题,提出了一种基于国产MCU控制芯片的通用IPMC控制器的设计与实现。该IPMC控制器应用于国产平台通信单元机箱内功能板卡端,设计满足VITA46.11标准和IPMI协议,作为管理系统的核心组件智能平台管理控制器,IPMC设计实现功能板卡与机箱控制器ChMC之间的标准IPMI管理以及各种故障信息的诊断与处理。该IPMC控制器管理接口设计灵活,可拓展性强,便于后续的移植与维护,经联调测试验证了该设计的灵活性与实用性。     

基于ARM9的通用IPMC载板设计

针对ATCA构架体系中由IPMC没有完全按照规范要求设计而引发的兼容性差的问题,提出一种基于ARM 9的通用IPMC载板设计方案;该方案以ARM 9嵌入式微处理器为核心,设计了合理的硬件电路,符合PICMG 3.0规范和IPMI 2.0标准,可以适应各种背景的ATCA板卡管理;选取Radisys机箱作为实验平台,IPMC载板可以实现对ATCA板卡的管理并且与机箱管理进行可靠通信,有效验证了载板的可行性和通用性;通过将载板搭载在不同的FRU上进行实验,结果证明载板具有良好的兼容性。     

一种离子聚合物金属复合材料的性能研究

本文在介绍离子聚合物金属复合材料（IPMC）作动机理的基础上,以一种镀Pt的IPMC材料为对象,通过实验方法研究了水分子对其作动性能的影响以及在直流和交流电压输入下的位移与内部电流特性,比较了不同输八波形以及不同输入电压幅值下的响应特征,并给出了这种IPMC的频率响应特性,从而为该材料的应用奠定了基础。     

一种改进的基于驱动模型的门式起重机消摆设计

为研究一种较快捷的起重机闭环消摆控制器,把由变频器、三相笼型异步电机、减速器所构成的驱动系统纳入到整个控制系统中来,通过建立精确的数学模型,得到电机转速与吊载摆动角度的传递关系;运用微加速度计,实时检测吊载摆动角度,加入负反馈,而设计出一种新型的自适应神经控制器;为加快学习速度,采用直接设计模型参考自适应控制策略;借助于液压实验室中PLC变频调速门式起重机实验平台,进行仿真和实验;证明了该方法消摆和定位更快,效果更好.     

基于演算子理论的IPMC人工肌肉精确位置控制

IPMC(Ionic Polymer Metal Composite)人工肌肉是一种离子交换聚合金属材料,由于具有在低电压作用下可以产生较大弯曲的特性,已经被作为分布式传感器和执行器广泛应用于各种仿生机器人构建中。为了在各种仿生机器人中应用IPMC人工肌肉,期望的位置或偏移量必须能够精确地控制。针对这个问题,通过应用鲁棒右互质分解方法,本文设计一种基于演算子理论的IPMC人工肌肉精确位置控制系统,该系统不仅保证了鲁棒稳定性,而且能够实现精确的位置跟踪。最后,通过仿真和实验结果,系统的有效性进一步得到验证。     

涡轮后排气温度摆动故障仿真研究

介绍了一种航空发动机低压涡轮后排气温度Tt摆动故障仿真研究方法,分析了导致航空发动机低压涡轮后排气温度摆动故障的典型原因.应用虚拟仪器编程技术,采用模块化编程思想,建立了低压涡轮后排气温度控制系统仿真平台,实现了实际试车过程低压涡轮后排气温度Tt摆动的故障仿真.在传感器信号回路串入低通滤波器进行滤除干扰仿真,根据仿真结果提出了排除Tt摆动故障的方法.经试车验证,此仿真平台能有效指导航空发动机低压涡轮后排气温度控制系统故障排除.     

光学振动半实物仿真系统设计

给出一种光学振动半实物仿真系统的设计方法.光学振动半实物仿真系统进行了星载激光发射系统的光学振动试验.设计根据欧空局的SILEX平台振动特性滤波器传递函数;把高斯白噪声作为滤波器的输入,滤波器的输出就是模拟生成的平台振动时域信号;通过基于Matlab的Real-time Workshop,把平台振动模拟系统的滤波器模型转换成实时模拟程序.模拟程序生成的振动信号分别输出给两个摆镜,通过摆镜摆动来模拟平台振动对光束的影响.能实现对平台振动的全频谱域模拟,提高模拟的质量和可靠性.     

采用三点峰值法求陀螺测斜仪的平衡位置

陀螺测斜仪的斜度数据可以通过自由摆动的测角传感器获得。在连续测量过程中,测角传感器的摆锤一直在做摆动,因而传感器输出的信号中除了实际的斜度信号以外,还有更大幅值的摆动信号。测量速度提高以后,斜度信号和摆动信号的频率十分接近,无法用常规模拟或数字滤波方式将摆动信号消除。文章提出了一种采用三点峰值法求解平衡位置的方案,解决了该问题。     

基于DSP的飞行器大角度机动控制实验技术研究

讨论了空间飞行器大角度机动控制实验平台的实现方法,并给出了硬件系统原理框图和软件的设计流程图;采用变结构控制算法,设计了基于反作用飞轮的大角度姿态机动控制器,并进行了不同角度下的闭环姿态机动控制实验,实验结果验证了该实验平台设计的可行性,对空间飞行器大角度姿态机动的研究提供了一个较好的实验平台.     

Integrated Design of an Ionic Polymer–Metal Composite Actuator/Sensor

We are studying the robotic application of ionic polymer–metal composite (IPMC). The characteristics of IPMC greatly depend on the type of counterions, and it is considered that the performance of the actuators can be improved by combining the actuators with several types of counterions and applying an integrated control. IPMC also has a sensor function, as the IPMC film generates an electromotive force when it is deformed. It has the possibility to be integrated into an IPMC actuator with soft actuation. In this paper, we consider an integrated design of an IPMC actuator/sensor, and investigate control of the combined IPMC actuators using H _∞ control and the construction of an IPMC sensor system.     

Multiphysics modeling of an IPMC microfluidic control device

A microfluidic control device that uses an electroactive polymer for actuation has been recently proposed. This design has potential to control temperature sensitive particle-laden liquids. The electro-mechanical characteristics of ionic polymer metal composite (IPMC) actuators have been studied both theoretically and empirically. However, very little data has been published on the thermal behavior of IPMC actuators. To realize the proposed fluidic control device, it is essential to understand the thermal properties of the device under actuation conditions. This paper discusses the theoretical basis for developing a multiphysics model describing electroactive polymer actuation. In addition, experimental results are presented that give insight to the thermal characteristics of IPMC actuation.     

Design of micromirror actuator by ionic polymer metal composites

Microactuators for micromirror system have found many applications in various areas including projection displays, optical switches, RF switches and so on. In this paper we demonstrated micromirror actuator using ionic polymer metal composites (IPMC) that is a suitable candidate, since it has many attractive qualities such as durability, aquatic, miniature and light-weighted. Specially, IPMC has extraordinary advantages which are simple bending motion for low driving voltage (1–2 V), low power consumption, and simple structure. The IPMC actuator is made of Nafion NE-1110 (Dupont Co, Ltd., 260 µm thick) layer and electrode (platinum) layers and driven by 1–4 V. The displacement measured vertically is 0.25 mm and tilting angle is 11.3°. The angular motion, which is more than 10°, is a good advantage in the field of display module. This paper shows that the IPMC actuator has enough possibility for other applications.     

SCARA based peg-in-hole assembly using compliant IPMC micro gripper

Robotic assembly is difficult as there always exist position errors between two mating parts. Compliance is added in a selective compliant assembly robot arm (SCARA) in the form of a two ionic polymer metal composite (IPMC) fingers based micro gripper. This micro gripper is integrated at the end effector position of a SCARA robot. Peg-hole interaction is analytically modeled and based on it the force required to correct the lateral and angular errors by IPMC is calculated. A proportional-derivative (PD) controller is designed to actuate the IPMC to get the desired force for correcting the peg position before assembly. Simulations and experiments were carried out by developing an IPMC micro gripper and using it to analyze various cases of peg in hole assembly. The experimental results prove that adding compliance through IPMC helps in peg-in-hole assembly.     

A bio-inspired multi degree of freedom actuator based on a novel cylindrical ionic polymer–metal composite material

In this work, we explore a promising electroactive polymer (EAP), called ionic polymer–metal composite (IPMC) as a material to use as a multi degree of freedom actuator. Configuration of our interest is a cylindrical IPMC with 2-DOF electromechanical actuation capability. The desired functionality was achieved by fabricating unique inter-digitated electrodes. First, a 3D finite element (FE) model was introduced as a design tool to validate if the concept of cylindrical actuators would work. The FE model is based upon the physical transport processes—field induced migration and diffusion of ions. Second, based upon the FE modeling we fabricated a prototype exhibiting desired electromechanical output. The prototype of cylindrical IPMC has a diameter of 1 mm and a 20 mm length. We have successfully demonstrated that the 2-DOF bending of the fabricated cylindrical IPMCs is feasible. Furthermore, the experimental results have given new insight into the physics that is behind the actuation phenomenon of IPMC.     

Analysis of electro-active polymer bending: A component in a low cost ultrathin scanning endoscope

The development of a low-cost active tip bending system for a scanning fiber endoscope or catheterscope has been initiated and proof-of-concept fabrication and testing have been conducted. The actuator material chosen for the design is an ionic conductive polymer metal composites (IPMC) type electro-active polymer (EAP). IPMC materials are inexpensive, especially in small sizes required for ultrathin scopes, allowing the possibility of an active-bending mechanism for the single-use endoscope. The charge and the strain distribution across the 200 μm thick membrane are simulated using finite element analysis (FEA). The deformation results from the numerical analysis agree within 8.5% error of the experimental outcome. An IPMC strip actuator made from a Nafion^® membrane and a platinum-plating recipe is developed. The generative force of the actuator is measured and demonstrated to be sufficient to lift the rigid tip of the scanning fiber endoscope. Therefore, this IPMC material is a candidate to be used as a low-cost active bending mechanism for the ultrathin scanning fiber endoscopes and future catheterscopes.     

足球机器人功能系统的实验性设计

本文简要介绍足球机器人系统的四大功能模块即视觉系统、决策系统、通信系统和车体系统。然后对足球机器人的各个功能系统分别提出其实验性设计,以实现每个功能系统的多视角实验平台,该功能系统的实验平台除对足球机器人系统进行功能研究外,还可用于智能控制的教学和研究。