An automatic tuning method of the largest amplitude vibration of Au-nafion IPMC

摘要

This paper describes how to generate the vibration of IPMC effectively. First, it was found that IPMC generates large spiky deformation by applying long-term period saw-tooth wave voltage. The deformation quantity is increased with the longer period saw-tooth wave. Vibration with the proportional control was also investigated. IPMC cannot control its position by proportional control because of its frequent polarity change of the applied voltage. In this study, the proportional control is used for making vibration. However, the displacement induced by the proportional control is basically the same to the application of the AC rectangular pulse voltage if the frequency is equivalent to the equilibrium frequency of the proportional control. An automatic frequency tuning program was also made to vibrate IPMC effectively. The controller estimates the IPMC's vibration from the laser displacement sensor and changes the frequency of AC rectangular pulse voltage. The program tunes the frequency to maximize the average moving speed. The searching algorism is basically a hill climbing algorism. This program can tune IPMC's vibration frequency automatically if the surrounding circumstance is changed from water to air.