A Digitized Representation of the Modified Prandtl-Ishlinskii Hysteresis Model for Modeling and Compensating Piezoelectric Actuator Hysteresis.

Chao Zhou,Chen Feng,Wei Tech Ang,Yan Naing Aye

doi:10.3390/mi12080942

Abstract

Piezoelectric actuators are widely used in micromanipulation and miniature robots due to their rapid response and high repeatability. The piezoelectric actuators often have undesired hysteresis. The Prandtl–Ishlinskii (PI) hysteresis model is one of the most popular models for modeling and compensating the hysteresis behaviour. This paper presents an alternative digitized representation of the modified Prandtl–Ishlinskii with the dead-zone operators (MPI) hysteresis model to describe the asymmetric hysteresis behavior of piezoelectric actuators. Using a binary number with n digits to represent the classical Prandtl–Ishlinskii hysteresis model with n elementary operators, the inverse model can be easily constructed. A similar representation of the dead-zone operators is also described. With the proposed digitized representation, the model is more intuitive and the inversion calculation is avoided. An experiment with a piezoelectric stacked linear actuator is conducted to validate the proposed digitized MPI hysteresis model and it is shown that it has almost the same performance as compared to the classical representation.

Highlights

Lidong YangPiezoelectric actuators are widely used in micromanipulation applications due to their rapid response and high repeatability, for example, microsurgical robots [1,2], autofocus optical systems [3,4,5], precise fabrication [6,7,8] and other applications [9,10,11]
We present an alternative digitized representation with which the inverse model can be constructed to compensate for the hysteresis behavior
The parameters of the digitized representation and the classical representation of the modified PI model with the dead-zone operators are identified with n = 25, the identified parameters are used to model the hysteresis behavior of the piezoelectric stacked linear actuator

Summary

Introduction

Lidong YangPiezoelectric actuators are widely used in micromanipulation applications due to their rapid response and high repeatability, for example, microsurgical robots [1,2], autofocus optical systems [3,4,5], precise fabrication [6,7,8] and other applications [9,10,11]. One of the biggest challenges while using the piezoelectric actuators in dynamic applications is to model and compensate for the undesired complex hysteresis. Various methods have been proposed for modeling and compensating the hysteresis behavior. The existing methods can be classified into physics-based models and phenomenology-based models [12]. Physics-based models [13] are often derived on the basis of physical principles of certain material or system properties [14,15,16]. Physics-based models often require a deep understanding of the causes of hysteresis and are often specific to the related properties

Results

Discussion

Conclusion