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Publication# Control-oriented modeling and analysis of tubular dielectric elastomer actuators dedicated to cardiac assist devices

Yves Perriard, Yoan René Cyrille Civet, Thomas Guillaume Martinez, Armando Matthieu Walter, Ning Liu

2022

Journal paper

2022

Journal paper

Abstract

This paper deals with the control-oriented modeling of a multilayered dielectric elastomer actuator based tube. The actuator is clamped at both sides and performs a radial displacement. The hyperelastic deformation and the viscoelastic performance, together with the electro-mechanical coupling are considered in the model. With the chosen Yeoh’s model for the Helmholtz free energy function, we aim to model the snapthrough effect of this tubular actuator at high applied voltage. Simulation results of the nonlinear dynamic model are later compared with experimental ones in order to identify unknown parameters of the dielectric elastomer, especially to fit the snapthrough effect and the high frequency performance. With proper identification process, our model has a good accuracy to fit the physical system (more than 90.27% for a ramp input and more than 82.7% for a step input) and is ready for the future controller design.

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In thermodynamics, the thermodynamic free energy is one of the state functions of a thermodynamic system (the others being internal energy, enthalpy, entropy, etc.). The change in the free energy is the maximum amount of work that the system can perform in a process at constant temperature, and its sign indicates whether the process is thermodynamically favorable or forbidden. Since free energy usually contains potential energy, it is not absolute but depends on the choice of a zero point.

Strain energy density function

A strain energy density function or stored energy density function is a scalar-valued function that relates the strain energy density of a material to the deformation gradient. Equivalently, where is the (two-point) deformation gradient tensor, is the right Cauchy–Green deformation tensor, is the left Cauchy–Green deformation tensor, and is the rotation tensor from the polar decomposition of . For an anisotropic material, the strain energy density function depends implicitly on reference vectors or tensors (such as the initial orientation of fibers in a composite) that characterize internal material texture.

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