离子型金属聚合物复合材料的分数阶建模及二阶滑模控制

离子型金属聚合物复合材料(ionic polymer metal composites,IPMC)是一种具有广阔应用前景的电驱动智能复合材料,但是它具有强非线性,尤其是磁滞特性,严重影响了控制精度。分数阶控制系统的提出,不仅涵盖了传统的整数阶系统,还对其进行了补充,大大增加了控制理论的鲁棒性和易模拟性。为了准确建立IPMC模型,首先通过实验数据和人工蜂群算法对整数阶模型进行参数寻优,再将其转化成拟合度更高的分数阶模型。针对该分数阶模型,提出并介绍了基于分数阶的二阶滑模控制器的理论内容,并从仿真与实验两个方面分别与分数阶PI~λD~μ控制器作对比,结果表明了所提出控制方法的控制效果更好。

Fractional Modeling and Second Order Sliding Mode Control of IPMC

IPMC(Ionic Polymer Metal Composites), an electrically driven type of intelligent composite material, possess strong non-linearity, especially hysteresis characteristic which has an incredibly huge influence on its control accuracy. Fractional order system is a generalization and supplement to the traditional integer-order system and has made some control theories more robust and easier to simulate. In order to establish the IPMC model accurately, based on experimental data and artificial bee colony algorithm, the model of the integer order was parametrically optimized and further converted into the model of fractional order with better fitting degree during the process of modelling. For the fractional order model, the essay presents and introduces the theoretical content of the second order sliding mode controller based on the fractional order. The better control effect of the control method is confirmed by comparing this controller with the fractional order controller according to their respective verisimilitude and experimental results.