A new hysteresis modeling and optimization for piezoelectric actuators based on asymmetric Prandtl-Ishlinskii model

Abstract

Piezoelectric actuators are core components in micromanipulation systems in the field of biomedicine. The asymmetrical hysteresis of piezoelectric actuators greatly affects its performance, and the existing asymmetric hysteresis models are either inaccurate or complicated. In this paper, an accurate and simple asymmetric hysteresis model is proposed based on the Prandtl-Ishlinskii (PI) model. Firstly, the Play operator is modified to be asymmetric to enhance its flexibility, and the influence of parameters on the operator is analyzed. Secondly, the Asymmetric Prandtl-Ishlinskii (API) model is proposed based on the asymmetric Play operator and verified by experiment. Compared with several existing models, the API model can describe the asymmetric hysteresis in a more accurate and simple manner under the same conditions. Thirdly, the parameters of the API model are optimized. Compared with the unoptimized API model, the optimized one can reduce the number of parameters and maintain high accuracy. Furthermore, the influence of the order on accuracy is discussed, and a guidance for selection of the order is provided. Last but not least, the optimized API model is used to compensate for the hysteresis. The experimental results show that the compensator based on this model can effectively suppress the hysteresis of the piezoelectric actuator.