Abstract
This paper describes the design and fabrication of a dielectric elastomer actuator vibration isolator and accompanying hysteresis compensation controller. The results of experiments to elucidate the hysteresis properties and the quality of the vibration isolation are also presented. The model used to characterize the hysteresis properties of the dielectric elastomer actuator is based on the controlled auto-regressive model and employs the recursive least squares method. A closed-loop proportional–integral–derivative controller was developed to compensate the hysteresis and was tuned via the back propagation neural network algorithm. The results demonstrate that the controller can compensate the hysteresis of the dielectric elastomer actuator, and the dielectric elastomer actuator can be used to isolate incoming vibration from the base. When tested using a narrow band vibration in a 5 Hz band, the isolation of the dielectric elastomer actuator vibration isolator was 45.60% across the frequency band.
Highlights
Smart materials and structures have attracted considerable attention over the past decade
We encountered hysteresis when working with dielectric elastomer actuators (DEAs) materials and found that the size of the hysteresis loop is related to the frequency and amplitude of the actuating voltage and is typically due to the energy dissipated as material internal friction
A DEA with hysteresis was employed in a vibration isolation application
Summary
Smart materials and structures have attracted considerable attention over the past decade. Dielectric elastomers (DEs) are a family of soft electroactive materials that consist of a polymer film sandwiched between two compliant electrodes. These structures have several advantages, including light weight, low compliance, high stretch ability, short response time, high energy density, high efficiency over a broad range of frequencies, and chemical and biological compatibility.[1,2,3,4,5] DE structures are of interest in many areas of engineering, and several implementations have recently been presented in the literature, including grippers,[6] artificial muscles,[7] and soft robots.[8]. Hysteresis must be considered when developing control strategies
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