自传感介电弹性体执行器的动力学设计及应用

本文提出了一种传感与作动一体化的介电弹性体(DE)软执行器，可用于薄膜结构形面变形的同步测量和控制.首先，建立DE软执行器电致驱动过程的动力学模型，描述其力电耦合行为.其次，通过开展动态作动实验，辨识该动力学模型的参数.第三，分析不同参数对作动器动态响应的影响，以理解其基本动力学特性.第四，建立DE软执行器自传感过程的简化电路模型，并对其电学参数与位移之间的关系进行实验标定.最后，开展平面薄膜结构的形面位移自适应调整实验，并设计相应的控制策略.实验结果表明，该DE软执行器在作动和传感方面均具有较高精度.因此，其在构建高精度空间薄膜天线方面具有较好的应用前景.

Dynamic Design of a Self-Sensing Dielectric Elastomer Actuator and its Application

This paper proposes a dielectric elastomer (DE) soft actuator with sensing function, which can achieve synchronous measurement and control of membrane structures surfaces. Firstly, the dynamic model of electric driven process of the DE actuator is established, which can describe its electro-mechanical coupling behavior. Then, the parameters of the dynamic model are identified by a series of experiments. Moreover, the influence of some model parameters on dynamic responses of the DE actuator are analyzed to understand its basic dynamic characteristics. Next, the simplified circuit model for self-sensing process of the DE actuator is established, and the relationship between the electrical parameters and displacement of the DE actuator was calibrated experimentally. Finally, experiments of adaptive control of membrane surface are carried out, and the corresponding control strategy is designed. Experimental results indicate that the DE actuator has high precision in both actuation and sensing. Therefore, the DE soft actuator is highly promising in construction of high-precision space membrane antennas.