Journal of Biomedical Engineering Research (대한의용생체공학회:의공학회지)

The Korean Society of Medical and Biological Engineering (대한의용생체공학회)
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Modeling, Simulation, and Control of a Polyaniline/Carbon-Nanotube Polymer Actuator

폴리아닐린/탄소나노튜브 폴리머 액츄에이터의 모델링, 시뮬레이션 및 제어

  • Sohn, Ki-Won (Center for Bio-Artificial Muscle, Hanyang University) ;
  • Yi, Byung-Ju (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Kim, Sean-Jeong (Center for Bio-Artificial Muscle, Hanyang University) ;
  • Kim, In-Young (Department of Biomedical Engineering, Hanyang University) ;
  • Kim, Sun-I. (Department of Biomedical Engineering, Hanyang University)
  • 손기원 (한양대학교 생체인공근육 창의연구단) ;
  • 이병주 (한양대학교 공학대학 전자컴퓨터공학부) ;
  • 김선정 (한양대학교 생체인공근육 창의연구단) ;
  • 김인영 (한양대학교 공과대학 전기제어생체공학부) ;
  • 김선일 (한양대학교 공과대학 전기제어생체공학부)
  • Published : 2007.06.30
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Abstract

Polymer actuators, which are also called as smart materials, change their shapes when electrical, chemical, thermal, or magnetic energy is applied to them and are useful in wide variety of applications such as microelectromechanical systems (MEMS), machine components, and artificial muscles. For this study, Polyaniline/carbon-nanotube polymer actuator that is one of electroactive polymer actuators was prepared. Since the nonlinear phenomena of hysteresis and a step response are essential considerations for practical use of polymer actuators, we have investigated the movement of the Polyaniline/carbon-nanotube polymer actuator and have developed an integrated model that can be used for simulating and predicting the hysteresis and a step response during actuation. The Preisach hysteresis model, one of the most popular phenomenological models of hysteresis, were used for describing the hysteretic behavior of Polyaniline/carbon-nanotube polymer actuator while the ARX method, one of system identification techniques, were used for modeling a step response. In this paper, we first expain details in preparation of the Polyaniline/carbon-nanotube polymer then present the mathematical description of our model, the extraction of the parameters, simulation results from the model, and finally a comparison with measured data.

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References

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