Rate-dependent Prandtl-Ishlinskii hysteresis compensation using inverse-multiplicative feedforward control in magnetostrictive Terfenol-D based actuators

2016 ◽  
Author(s):  
Omar Aljanaideh ◽  
Micky Rakotondrabe ◽  
Hussam Khasawneh ◽  
Mohammad Al Janaideh
Keyword(s):  
Feedforward Control ◽  
Hysteresis Compensation ◽  
Rate Dependent

scholarly journals Tracking Control of a Galfenol-Actuated Nanopositioning Stage Using Feedforward Control with a Disturbance Observer

2019 ◽  
Vol 2019 ◽  
pp. 1-9
Author(s):  
Shiping Jiang ◽  
Bin Xu ◽  
Shuxin Liu ◽  
Wei Zhu
Keyword(s):  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Feedforward Control ◽  
Unmodeled Dynamics ◽  
Output Displacement ◽  
Hysteresis Compensation ◽  
Rate Dependent ◽  
Main Challenge ◽  
Compensation Error

The main challenge of the galfenol actuator for high-precision positioning is the inherent nonsmooth hysteresis, which may lead to undesirable inaccuracies or oscillations and even instability. The primary aim of this study is to develop a tracking control method to precisely control the output displacement of a galfenol-actuated nanopositioning stage using feedforward control with a disturbance observer. In order to accurately describe the rate-dependent hysteresis, considering the dynamic behavior of the power amplifier, a novel dynamic model is put forward. Then, a developed controller is designed. In this controller, a feedforward control is developed to compensate the rate-dependent hysteresis, and a disturbance observer is employed to restrain disturbances, high-order unmodeled dynamics, and hysteresis compensation error. The comparative experimental results show that the proposed control method can significantly improve the positioning accuracy and suppress disturbances. This research can be applied in various micro and nanopositioning and vibration control fields.

Modeling and Compensation of Hysteresis in Piezoceramic Transducers for Vibration Control

1999 ◽  
Author(s):  
Soon-Hong Lee ◽  
Thomas J. Royston ◽  
Gary Friedman
Keyword(s):  
Feedforward Control ◽  
Experimental Studies ◽  
Model Identification ◽  
Hysteretic Behavior ◽  
Mathematical Framework ◽  
Hysteresis Model ◽  
Composite Support ◽  
Hysteresis Compensation ◽  
Control Scheme ◽  
Theoretical Developments

Abstract Hysteretic behavior in piezoceramic transducers is investigated theoretically and experimentally. The applicability of the rate-independent generalized Maxwell resistive capacitor (MRC) hysteresis model is established. Methods for MRC and inverse MRC online model identification are developed by first establishing that the MRC and its inverse are the same particular cases of the classical Preisach hysteresis model. This enables use of the extensive mathematical framework that has been developed for Preisach models. A method of incorporating the MRC model in a feedforward control scheme for hysteresis compensation is also presented. Experimental studies on a 1-3 piezoceramic composite support the theoretical developments and their applicability to piezoceramics.

Modeling, identification and compensation of hysteresis nonlinearity for a piezoelectric nano-manipulator

2016 ◽  
Vol 28 (7) ◽  
pp. 907-922 ◽  
Author(s):  
Yangming Zhang ◽  
Peng Yan
Keyword(s):  
Input Function ◽  
Rate Function ◽  
Hysteresis Model ◽  
Tracking Accuracy ◽  
Hysteresis Compensation ◽  
Rate Dependent ◽  
Hysteresis Nonlinearity ◽  
Tracking Motion ◽  
Play Operator ◽  
Compensation Approach

Hysteresis nonlinearity widely exists in piezoelectric actuated nano-positioning applications, which degrades their tracking accuracy and limits their precision positioning applications. This paper presents a novel hysteresis modeling and compensation approach to alleviate the adverse effect of the asymmetric and rate-dependent hysteresis nonlinearity for a piezoelectric transducer actuated servo stage. By integrating a generalized input function with the play operator of the classical Prandtl–Ishlinskii model, a novel polynomial-based rate-dependent Prandtl–Ishlinskii (PRPI) model is proposed to capture the hysteresis behavior of the piezoelectric positioning stage, where a polynomial function of input and a time rate function of input are introduced to formulate the generalized input function. Meanwhile, a new adaptive differential evolution optimization algorithm is developed to identify the parameters of the proposed PRPI hysteresis model. Based on the PRPI hysteresis model with the identified parameters, an inverse feedforward controller is constructed to achieve the accurate tracking motion. Furthermore, the hysteresis compensation error of the proposed PRPI model is theoretically analyzed. Finally, comparative experiments are conducted, and the experimental results provided in this paper demonstrate the effectiveness and superiority of the proposed inverse PRPI model compensation approach.

scholarly journals Inverse Rate-Dependent Rayleigh Model Based Feedforward Control for Piezoelectric-Driven Mechanism

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 194808-194819
Author(s):  
Meng Zhang ◽  
Zhigang Liu ◽  
Yu Zhu
Keyword(s):  
Feedforward Control ◽  
Model Based ◽  
Rate Dependent

Precision open-loop control of piezoelectric actuator

2021 ◽  
pp. 1045389X2110482
Author(s):  
Zhigang Nie ◽  
Yuguo Cui ◽  
Jun Huang ◽  
Yiqiang Wang ◽  
Tehuan Chen
Keyword(s):  
Piezoelectric Actuator ◽  
Open Loop ◽  
Simple Expression ◽  
Creep Model ◽  
Open Loop Control ◽  
Maximum Displacement ◽  
Loop Control ◽  
Hysteresis Compensation ◽  
Rate Dependent ◽  
Partition Method

Due to space constraints, some micro-assemblies and micro-operating systems cannot install sensors, so it is challenging to achieve closed-loop control. For this reason, a precision open-loop control strategy for piezoelectric actuators is proposed. Firstly, based on the PI model and the proposed threshold partition method, the hysteresis model of the piezoelectric actuator with rate-dependent and few operators is established. Then the hysteresis error of the piezoelectric actuator is compensated by the inverse model obtained. Secondly, the creep model of the logarithmic piezoelectric actuator with simple expression and few parameters is established. Then, a creep controller without demand inverse is designed to compensate for the creep error of the piezoelectric actuator. Finally, a ZVD (Zero Vibration Derivative) input shaping method with good robustness is given to eliminate the oscillation generated by the piezoelectric actuator under the action of the step signal. The experimental results show that the displacement error of piezoelectric actuator is reduced from −9.07 to 9.46 μm to −1.22 to 1.78 μm when the maximum displacement is 120 μm after hysteresis compensation; after creeping compensation, within the action time of the 1200 s, the displacement creep of the piezoelectric actuator was reduced from 5.5 μm before compensation to 0.3 μm; after the oscillation control, the displacement overshoot of the piezoelectric actuator is reduced to 0.6% of that before control.

Tracking control of a 3-dimensional piezo-driven micro-positioning system using a dynamic Prandtl–Ishlinskii model

2021 ◽  
pp. 1045389X2110482
Author(s):  
Wei Zhu ◽  
Feifei Liu ◽  
Fufeng Yang ◽  
Xiaoting Rui
Keyword(s):  
Power Amplifier ◽  
Dynamic Characteristics ◽  
Tracking Control ◽  
Feedforward Control ◽  
Positioning System ◽  
Hysteresis Model ◽  
Tracking Accuracy ◽  
Simple Method ◽  
3 Dimensional ◽  
Rate Dependent

A controller composed of a feed-forward loop based on a novel dynamic Prandtl–Ishlinskii (P-I) model and a PID feedback control loop is developed to support a 3-dimensional piezo-driven micro-positioning system for high-bandwidth tracking control. By considering the dynamic characteristics of the power amplifier, the dynamic P-I model can accurately describe the rate-dependent hysteresis of piezoelectric stack actuators (PSAs). To ensure that the hysteresis model is independent of system load, the P-I hysteresis operator in that model characterizes the relationship between the output force and the input voltage of PSAs. The dynamics equation of the mechanical is established by using the cutoff modal method. The feedforward control is designed based on the dynamic hysteresis model to reduce the rate-dependent hysteresis. The PID control is incorporated with the feedforward control to increase the tracking accuracy. Experimental results indicate that the controller can overcome the hysteresis efficiently and preserve good positioning accuracy in 1–100 Hz bandwidth. Just by introducing the dynamic characteristics of the power amplifier, which can be expressed as a first-order differential equation, the P-I model can accurately describe the rate-dependent hysteresis of the PSA, which provides a simple method to describe and control piezoelectric actuators and piezo-driven systems in a wide frequency.

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