A Self-Sensing Approach for Dielectric Elastomer Actuators Based on Online Estimation Algorithms
This paper develops a position self-sensing approach for a motion actuator based on a dielectric elastomer membrane. The proposed method uses voltage and current measurements to estimate the electrical resistance and capacitance online by means of a high-frequency low-amplitude voltage component inj...
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| Published in | IEEE/ASME transactions on mechatronics Vol. 22; no. 2; pp. 728 - 738 |
|---|---|
| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
New York
IEEE
01.04.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1083-4435 1941-014X |
| DOI | 10.1109/TMECH.2016.2638638 |
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| Abstract | This paper develops a position self-sensing approach for a motion actuator based on a dielectric elastomer membrane. The proposed method uses voltage and current measurements to estimate the electrical resistance and capacitance online by means of a high-frequency low-amplitude voltage component injected in the actuation signal. The actual deformation is subsequently reconstructed using a model-based estimate of the electrical parameters implemented on a field programmable gate array platform (FPGA) with a sampling frequency of 20 kHz. The main peculiarity of the approach is the use of recursive identification and filtering algorithms that avoid the need of charge measurements. The self-sensing algorithm is extensively validated on a precision linear-motion actuator, which uses a nonlinear biasing system to obtain large actuation strokes. |
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| AbstractList | This paper develops a position self-sensing approach for a motion actuator based on a dielectric elastomer membrane. The proposed method uses voltage and current measurements to estimate the electrical resistance and capacitance online by means of a high-frequency low-amplitude voltage component injected in the actuation signal. The actual deformation is subsequently reconstructed using a model-based estimate of the electrical parameters implemented on a field programmable gate array platform (FPGA) with a sampling frequency of 20 kHz. The main peculiarity of the approach is the use of recursive identification and filtering algorithms that avoid the need of charge measurements. The self-sensing algorithm is extensively validated on a precision linear-motion actuator, which uses a nonlinear biasing system to obtain large actuation strokes. |
| Author | Rizzello, Gianluca Seelecke, Stefan Naso, David York, Alexander |
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| SubjectTerms | Actuation Actuators Algorithms Capacitance Current measurement Dielectric elastomer (DE) dielectric electroactive polymer Elastomers Electric potential Electrodes Field programmable gate arrays Mathematical model Position sensing Resistance self-sensing smart materials Voltage Voltage measurement |
| Title | A Self-Sensing Approach for Dielectric Elastomer Actuators Based on Online Estimation Algorithms |
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