Uporaba lomljenih odvodov za identifikacijo in vodenje dielektričnih elastomernih aktuatorjev : doktorska disertacija

slovenian

doktorska dela

2020

control system   dielectric elastomers   fractional derivatives   fractional Kelvin-Voigt model   fractional PID   PID   soft actuator

Univerza v Mariboru, Fakulteta za strojništvo

The main goal of this doctoral dissertation is the use of fractional derivatives in order to get mechanical properties of dielectric elastomer actuator. Even more, with the help of fractional derivatives one can get better control algorithm while using fractional plant model. Mechanical properties of the used elastomer were approximated with the help of fractional Kelvin-Voigt model. The difference from Kelvin-Voigt models is that it also uses the order of derivation for damping part. All together it has three parameters that should be fitted. Dynamical testing's were performed on elastomer and the results were compared with the least-squared method to fit the parameters of mathematical model. After parameters were found, mathematical model was transformed into Laplace space and step response was performed. Parameters of function FOPDT were calculated from comparing step response of mathematical model with the step response of FOPDT. Wang-Juang-Chan algorithm was performed on function FOPDT and parameters of PID were given as a result. These parameters were also a starting point for finding parameters of controller. With the help of FOMCON toolbox in Simulink and specifying desired phase margin, the order of integration and derivation was calculated. It has been shown that using fractional PID on fractional plant model gives better results than using PID controller on fractional plant model.

08.08.2023