Abstract
A discrete-time Preisach model that captures hysteresis in a piezoceramic actuator is developed. The model is implemented using a numerical technique that is based on first-order reversal functions and is presented in a recursive form that is amenable for real-time implementation. The first-order reversal functions are experimentally obtained using a piezoceramic actuator in a stacked form. The developed model shows good agreement with actual measured data. Two hysteresis compensation schemes based on the developed discrete-time Preisach model are also developed and used in order to obtain any desired linear voltage-to-displacement relationship. The ability of the first hysteresis compensator to lead to an arbitrary linear voltage-to-displacement relationship is shown through experimental tests under the condition that no-load is applied to the actuator and then a load typical of many piezoactuator applications is applied to the actuator. The second hysteresis compensation scheme is used as part of an open-loop tracking controller and is shown experimentally to lead to high tracking accuracy.
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