Electromechanical model-based vibration isolation using a dielectric elastomer actuator

The use of a dielectric elastomer (DE) tubular actuator for adaptive vibration isolation, where an electromechanical model of the actuator is utilised as part of the estimation scheme is examined. Active vibration isolation, with time varying loads, is considered. Adaptive estimation of a black-box cancellation path model is normally required to ensure convergence of the filtered-x least mean squares (LMS) estimated feedforward controller. Here the feasibility of using a physical-based electromechanical model of the combined DE actuator and its `sensitive' load as the cancellation path model is investigated. The current implementation involves auto-tuning a FIR filter representation of the physical-based cancellation path model whenever a loading change in the system is detected. When the FIR filter representation has been updated the adaptive feedforward control automatically turns back on. Load sensing is required to supply a value of the time-varying load to the model.