Dynamic modeling and control of IPMC hydrodynamic propulsor

作     者：Agrahari, Shivendra K. Mukherjee, Sujoy 

作者机构：PDPM Indian Inst Informat & Technol Design & Mfg Jabalpur 482005 Madhya Pradesh India 

出 版 物：《SMART STRUCTURES AND SYSTEMS》 (Smart Struct. Syst.)

年 卷 期：2017年第20卷第4期

页      面：499-508页

核心收录：

学科分类：08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0813[工学-建筑学] 0814[工学-土木工程] 

主　　题：Ionic Polymer Metal Composite (IPMC) smart materials propulsor PI controller PSO algorithm 

摘      要：The ionic polymer metal composite (IPMC) is an electroactive polymer material and has a promising potential as actuators for propulsion and locomotion in underwater systems. In this paper a physics based model is used to analyse the actuation dynamics of the IPMC propulsor. Moreover, proportional-integral (PI) controller is used for position control of the tip displacement of IPMC propulsor. PI parameter tuning is performed using particle swarm optimization (PSO) algorithm. Several performance indices have been used as an objective function to optimize the error of the system. Finally, the best tuning method is found out by comparing the results under various performance indices.