IPMC分数阶模型的建立与控制

IPMC是一类具有很好应用前景的电活性智能材料，但响应机理复杂且具有非线性限制了其开发与应用。分数阶控制是对传统整数阶控制理论的概括和补充，分数阶控制理论使得传统经典的PID控制理论更具有可模拟性和鲁棒性。为了准确地建立IPMC驱动器的模型并说明分数阶控制的优越性，本文首先建立了描述IPMC驱动器的整数阶模型和分数阶模型，然后比较两种模型的拟合精度，确定采用拟合精度更高的分数阶模型来描述IPMC驱动性能。并针对IPMC分数阶模型设计了整数阶PI控制器和分数阶 PID控制器。最后通过仿真分析可见，分数阶控制的上升时间更快，超调量更小，通频带更宽，可应用于控制IPMC的形变，证明了应用分数阶控制方法使得被控系统的性能得到了明显的改善。

Fractional modeling and control of IPMC

IPMC is a class of electrically active smart material which has good application prospect. However, its development and application are limited because of complex and non-linear response mechanism. Fractional order control theory is the summary and supplementary of traditional integer order control theory. It makes traditional classical PID control theory can be simulated and robustness more. In order to establish the model of IPMC driving performance accurately and illustrate the advantages of fractional order control. First, integer and fractional order model of IPMC driving performance are established in this paper. Then, fitting accuracy of two models are compared. Fractional order model with greater fitting precision is determined to describe the IPMC driving performance. Integer order PI controller and fractional order PID controller are designed for the IPMC fractional order model. Third, the simulation analysis indicates that rise time of fractional order PID control is faster and overshoot of that is smaller. The transmission band of it is wider. So it proves the control performance of system is significantly improved which is applied of fractional order control method to control the deformation of IPMC.