摘要
提出一种基于碳黑/聚氨酯复合材料的柔性传感器制备方法.传感器工艺简单且价格低廉,可批量生产.静态及动态电阻偏移量仅为1.18%及1.01%;传感器可被拉伸至原长的100%;因此,该传感器具备良好的稳定性以及拉伸性,可应用于指关节、腕关节等弯曲测量.针对传感器具有的迟滞非线性问题,结合一类不对称的模型算子,建立基于碳黑/聚氨酯复合材料的柔性传感器的迟滞逆模型,在此基础上对传感器进行前馈补偿研究.实验结果表明,采用该方法能够很好的补偿传感器在长期使用过程中的迟滞非线性,传感器输出的均方根误差下降96.63%,与构建经典Prandtl-Ishlinskii(PI)模型补偿传感器迟滞相比,均方根误差下降52.38%.
A preparation method for flexible sensor based on carbon black and polyurethane composite.The fabrication process of the sensor is simple and inexpensive,and can be mass-produced.In the static stability tests,the sensor resistance variation is only 1.18%.When it comes to dynamic tests,the sensor also shows good stability,its resistance variation is only 1.01%.Moreover,the sensor can be stretched to 100% strain from its original length.This proves that the sensor has good stability and stretchability.Therefore,it can be used to measure finger and wrist flexion,meets the needs of wearable health systems.In order to solve hysteresis nonlinear effect problem,combines a class of asymmetric model operators to establish a hysteresis inverse model for a flexible sensor based on carbon black and polyurethane composites.Based on the model,the feed-forward compensation of the sensor is studied.The experimental results show that this method can compensate the hysteresis non-linearity of the sensor during long-term use.The root mean square error of the sensor output is reduced by 96.63%.Compared with build a classic Prandtl-Ishlinskii(PI)model to compensate sensor’s hysteresis,the root error is decreased by 52.38%.
作者
刘强
陈鹏
张玮祎
Liu Qiang;Chen Peng;Zhang Weiyi(Tianjin Key Laboratory of Imaging and Sensing Microelectronic Technology,School of Microelectronics,Tianjin University,Tianjin 300072,China)
出处
《南开大学学报（自然科学版）》
CAS
CSCD
北大核心
2021年第5期42-47,共6页
Acta Scientiarum Naturalium Universitatis Nankaiensis
基金
国家自然科学基金(61974102)。
关键词
碳黑
聚氨酯
复合材料
迟滞补偿
模型
carbon black
polyurethane
composite materials
hysteresis compensation
model
