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Abstract
In this paper, a constrained distributed parameter port-Hamiltonian model of the ionic polymer metal composite actuator is proposed. This model describes the multiscale structure of the system. Submodels are coupled by boundary multi-scale elements. In order to preserve the causality of the system, Lagrangian multipliers are introduced to deal with the coupling between the electro-stress diffusion in the polymer and the flexible beam structure of the actuator. Finally, a structure-preserving discretization scheme and some appropriate projections are used to derive an explicit model suitable for simulation. The accuracy of the model is verified using experimental data.
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