湿度和电激励的新型作动器及其主动作动行为研究

PDEOT/PSS polymer is a new category of multi-field coupling smart materials that can undergo distinct expansion and contraction under humidity and electrical excitation. PEDOT/PSS has advantages in low voltage requirement, good electromechanical performance and biological compatibility, and thus is expected to play an important role, as a bio-actuator, in the field of biomedical engineering. Focused on the PEDOT/PSS materials, this research aims to design the experimental loading method of humidity and electrical excitation to the electrically controllable hygromorphic polymer, study its electro-thermo-mechanical coupling effect, establish its humidity-strain and voltage-strain constitutive relationships, and especially expound its actuation and control mechanism when used as an actuator. While PEDOT/PSS active layers are laminated on both side of an elastic beam, novel active actuator, i.e., a three-layer PEDOT/PSS-elastic-PEDOT/PSS smart beam, is proposed and the multi-field coupling dynamic equations of the laminated beam model are developed with the introducing of hybrid humidity and electrical sources. Theoretical analysis and experimental investigation of active actuation on the three-layer smart beam are studied and the actuation and deformation abilities of the novel actuator are assessed. Together with optimal design of structural parameters and control strategy of humidity and electrical excitation, the electrically controllable hygromorphic structure with the ability of deforming back and forth are finally achieved. This research provides theoretical support for the application of smart structure technique in active actuation with hybrid humidity and electrical excitation, as well as its development in the field of biomedical engineering.

PEDOT/PSS薄膜是一种能够在湿度和电作用下产生明显形态伸缩的多场耦合智能材料，具有驱动电压较低、湿度响应灵敏、机电性能和生物相容性好等特点，有望作为生物作动器在生物医学工程领域发挥重要作用。本项目拟基于PEDOT/PSS材料，设计湿度和电混合作用的实验加载方式，探索材料多场耦合效应，建立湿度-应变及电压-应变的本构关系，阐明PEDOT/PSS作动器的作动行为机制。以PEDOT/PSS为作动源，构建PEDOT/PSS层合梁式新型智能作动机构，发展层合梁结构在湿度和电混合作用下的多场耦合动力学模型。搭建实验平台，开展PEDOT/PSS层合梁式作动器的分布式作动行为的理论和实验研究，评估新型作动器的作动与形变能力。通过优化设计结构参数，结合湿度和电压控制策略，实现智能作动器的往复作动功能。本项目将发展湿度与电混合作用下的智能结构主动作动技术并为其在生物医学工程领域的应用提供理论基础。

针对PEDOT:PSS智能材料的湿度和电压激励特性，建立了PEDOT:PSS薄层结构在湿度和电激励作用下的力、电、湿度耦合本构关系和层合薄板结构的动力学模型，给出了基于湿度和电压作用的智能层合板的动力学控制方程。发展了智能层合梁式作动器在PEDOT:PSS/被动弹性层/PEDOT:PSS层合梁模式下的力学控制方程，并在此基础上建立了基于湿度和电压控制的分布式作动器模型。研究了层合分布式作动器的准静态形变控制和主动作动行为特征，并深入分析了作动片的尺寸和位置、控制电压、相对湿度、层合厚度和杨氏模量对作动器形变的影响，为进一步多作动器形态控制和动力学控制奠定关键基础。基于新型作动器模型，设计了基于PEDOT层合梁结构的具有往复作动功能的智能湿度调控机构和非接触式细胞操控方式和装置，为柔性机器人在湿度环境下的新型主动作动模式以及高精度相对湿度传感探测提供了新的思路。. 针对基于PEDOT:PSS智能结构的建模和作动研究，考虑一定的非线性关系，隐函数模型法对于拟合具有复杂非线性和非对称的拟合具有非常高的拟合精度和拟合效率。基于隐函数模板法对非线性关系进行了拟合计算，研究证明了模板波形对非线性系统拟合的有效性，并开展了吸湿和解湿过程中的湿度-应变和电压-应变本构关系的构建研究。. 搭建了实验测试平台，详细描述了恒温恒湿箱温度控制的实验结果。通过在同一个恒温恒湿箱运行模糊PID参数自整定和传统PID控制算法，验证了模糊PID参数自整定的温度控制效果（包括温度控制精度、响应速度、温度超调以及稳态温度波动范围）都优于传统PID控制。通过在1号和2号控温控湿箱的运行实验，验证了模糊PID参数自整定控制算法具有较好的鲁棒性。本实验的研究为开展电压和湿度激励的柔性机器人的进一步环境应用提供了实验平台基础。