Modeling and Control of IPMC for Micro-manipulation

摘要

The deformation of the cantilever caused by manipulation force is one of the most major nonlinearities and uncertainties during manipulation. It causes difficulties in precisely controlling the tip position, which will cause the tip to miss the position of the object. In order to solve this problem, in this paper, the dynamics model of piezoelectric smart cantilever beam based on ionic polymer metal composite (IPMC) as material of the active probe is researched. The active vibration optional control method based on LQR of piezoelectric smart cantilever beam is designed. The control system is simulated. The simulation results verified the validity of the model and effectiveness of the controller.