Abstract:
IEEE This paper presents a control-oriented modelling of a circular dielectric elastomer actuator loaded with a mass. Precise dynamic position control of these actuators is a challenge, because of the high level of nonlinearities. Our model takes into account nonlinear mechanical phenomena such as hyperelasticity and viscoelasticity. The behavior of dielectric elastomer actuators is analyzed by a series of experiments on three actuators with different parameters. Furthermore, the model parameters are found using optimization procedures. To improve the performance of the optimization, the steady state solution is found using the Harmonic Balance Method. Compared to a forward integration method, the time gain of the Harmonic Balance Method is significant, and exceeds 2 orders of magnitude when 6 or less harmonics are considered. The application of steady state solver enables taking the frequency response into account for the parameter identification procedure. The results obtained from the model are compared with experiments and show an excellent agreement.
