| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 699180 | Control Engineering Practice | 2011 | 14 Pages |
This paper describes the modeling of a soft actuator called an ionic polymer-metal composite (IPMC) by using distributed port-Hamiltonian (DPH) systems on multiple spatial scales. The multi-scale IPMC structure consists of an electric double layer, an electro-stress diffusion coupling and a flexible beam. The coupling of the structure can be modeled by the DPH systems with unidirectional energy flows on connecting boundaries of the subsystems, and it is called a boundary multi-scale coupling. The boundary multi-scale couplings derived from detailed models can be used for multi-scale retaining interconnections of various reduced models, e.g. numerical models with approximations.
Research highlights► We model a soft actuator called an ionic polymer-metal composite (IPMC) by using distributed port-Hamiltonian (DPH) systems. ► The IPMC model consists of multiple spatial scales: an electric double layer, an electro-stress diffusion coupling and a flexible beam. ► The couplings of each scale are explained by the DPH systems with unidirectional energy flows called a boundary multi-scale coupling. ► The boundary multi-scale couplings derived from detailed models can be used for numerical models with approximations.
