摘要
选择离子聚合物金属复合材料(IPMC)作为驱动器,设计了一种厘米级仿生机器鱼;针对驱动器自身存在的易疲劳、易电解等缺陷及实际工程中的不确定因素给系统带来的不稳定问题,建立了基于性能稳定的聚偏二氟乙烯(PVDF)传感器的闭环测控系统,解决了开环控制存在的调节时间长、误差大的问题;提出了一种新颖的传感器并行安装方式,有效地避开了应用环境中的不利因素,实现了对驱动器状态的实时检测;在LabVIEW软件环境下进行了测控实验。实验表明,该系统能够保证仿生机器鱼长期稳定地工作。
By using ionic polymer-metal composites （IPMC） as an actuator, a centimeter-level bionic robot fish was designed. Aiming at the uncertainties existing in the actual engineering system and the instability of IPMC, such as easy to become fatigue caused by the long time use, electrolysis, etc., an intelligent measurement and control system was set up based on the stable polyvinylidene fluoride （PVDF） sensor. The problems of long settling time and big error in the open-loop system were both overcome. In particular, a novel parallel installation method for sensor was proposed to handle the unfavorable factors in real applications, which achieved the monitoring of the IPMC actuator in real time. Intelligent measurement and control experiments were carried out in the LabVIEW software environment. The results show that the stable operation of the bionic robot fish can be ensured.
出处
《高技术通讯》
EI
CAS
CSCD
北大核心
2010年第8期850-855,共6页
Chinese High Technology Letters
基金
863计划(2006AA04Z248)资助项目
