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

Karner, Timi

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Title:	Uporaba lomljenih odvodov za identifikacijo in vodenje dielektričnih elastomernih aktuatorjev : doktorska disertacija
Authors:	ID Karner, Timi (Author) ID Gotlih, Karl (Mentor) More about this mentor... ID Žefran, Miloš (Mentor) More about this mentor...
Files:	DOK_Karner_Timi_2020.pdf (7,83 MB) MD5: BAB16BC5AE25149E4D30454E3BB3221B PID: 20.500.12556/dkum/c1f32614-5ede-4cdb-a595-0f82bc29d2ef
Language:	Slovenian
Work type:	Doctoral dissertation
Typology:	2.08 - Doctoral Dissertation
Organization:	FS - Faculty of Mechanical Engineering
Abstract:	Cilj doktorske naloge je uporaba lomljenih odvodov za pridobitve materialnih lastnosti uporabljenega dielektričnega elastomernega aktuatorja ter na podlagi tega in uporabe lomljenih odvodov izpeljati uspešen algoritem vodenja. Za namene pridobitev materialnih lastnosti elastomera je bil uporabljen lomljeni Kelvin-Voigtov model, ki se od navadnega razlikuje po tem, da je potrebno določiti tri parametre. Poleg konstante vzmeti še konstanto dušenja ter red odvajanja dušilnega dela. S to pomočjo lahko opišemo širše področje dinamičnega delovanja oz. obremenjevanja elastomera. Po opravljenih dinamičnih obremenitvah in uvedbi algoritma za pridobivanje materialnih lastnosti elastomera, ki temelji na metodi najmanjših kvadratov, smo pridobili matematični model elastomera. Ta model predstavlja temelj izpeljave algoritma vodenja. S pomočjo Laplaceove transformacije je mogoče enostavno zapisati matematični model lomljenega Kelvin-Voigt modela z Laplaceovo spremenljivko. Nad tem sistemom izvedemo stopnični odziv na spremembo vhodne veličine in ga primerjamo s funkcijo FOPDT. Po izračunu parametrov funkcije FOPDT in po uporabi Wang–Juang–Chanovega algoritma pridobimo parametre za PID-regulator. Ti predstavljajo osnovo za pridobitev parametrov lomljenega regulatorja. S pomočjo orodja FOMCON znotraj programa Simulink ter željene fazne rezerve pridobimo red odvajanja in integriranja lomljenega regulatorja. Izkaže se, da uporaba lomljenih odvodov in integralov pri vodenju sistemov z lomljenimi odvodi da boljše rezultate od uporabe navadnega PID-regulatorja.
Keywords:	dielektrični elastomeri, mehki aktuator, lomljeni Kelvin-Voigt model, lomljeni odvodi, vodenje sistema, PID, lomljeni PID
Place of publishing:	Maribor
Place of performance:	Maribor
Publisher:	[T. Karner]
Year of publishing:	2019
Number of pages:	XIX, 122 str.
PID:	20.500.12556/DKUM-74453
UDC:	681.587.015:517.2/.3(043.3)
COBISS.SI-ID:	22982422
NUK URN:	URN:SI:UM:DK:3AR92L2X
Publication date in DKUM:	30.01.2020
Views:	1857
Downloads:	328
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Categories:	KTFMB - FS
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Licences

License:	CC BY 4.0, Creative Commons Attribution 4.0 International

Link:	http://creativecommons.org/licenses/by/4.0/
Description:	This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
Licensing start date:	28.08.2019

Secondary language

Language:	English
Title:	USING FRACTIONAL DERIVATIVES FOR IDENTIFICATION AND CONTROL FOR DIELECTRIC ELASTOMER ACTUATORS
Abstract:	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.
Keywords:	dielectric elastomers, soft actuator, fractional Kelvin-Voigt model, fractional derivatives, control system, PID, fractional PID

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