UTHM Institutional Repository

Feasibility studies of arduino microcontroller usage for IPMC Actuator Control

Rosly, Muhammad Aliff and Samad, Zahurin and Shaari, Muhammad Farid (2014) Feasibility studies of arduino microcontroller usage for IPMC Actuator Control. In: 4th IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2014), 28-30 November 2014, Penang, Malaysia.


Download (2MB)


This paper investigates the usage of Arduino microcontroller to control closed loop of Ionic Polymer Metal Composite (IPMC) actuator response designed for compact underwater application. We demonstrate control of single IPMC actuator by PID controller using MATLAB/Simulink Arduino Input Output (ArduinoIO) support package. Experimental results show that the microcontroller able to differentiate response speed, stability and tracking error of different thicknesses of IPMC actuator when stimulated by multiple voltage waves and frequencies. Based on step signal and square waves tracking performance results, thinner IPMC (t1) has more than 5 times respond speed than thicker IPMC (t2). However, IPMC t1 has lower steady-state stability and more sensitive to external noise compared to IPMC t2 due to IPMC actuator mechanism factors and current Arduino setup limitation such as low sampling rate. For sinusoidal waves tracking analysis, IPMC t2 with lower frequency reference input shows minimum erms error (3.12 %), while IPMC t2 with higher frequency contains highest erms error (28.70 %). Therefore, added with further improvements in improving analog read sampling rate and analog write resolution, Arduino microcontroller can accurately control and analyse the IPMC actuator, thus manage to replace expensive and bulky current DAQ hardware.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: IPMC; ionic polymer; arduino; control; underwater actuator; smart actuator
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ212-225 Control engineering systems. Automatic machinery (General)
Divisions: Faculty of Mechanical and Manufacturing Engineering > Department of Manufacturing and Industrial Engineering
Depositing User: Normajihan Abd. Rahman
Date Deposited: 29 Mar 2015 07:14
Last Modified: 29 Mar 2015 07:14
URI: http://eprints.uthm.edu.my/id/eprint/6566
Statistic Details: View Download Statistic

Actions (login required)

View Item View Item


Downloads per month over past year