Adaptive inverse of piezoelectric bimorph actuator with Prandtl-Ishlinskii model for wide-band tracking control

Abstract

A major defect of piezoelectric bimorph actuators is that the control accuracy is limited by the hysteresis nonlinearity, especially in the wide band. In this paper, an adaptive control method is proposed for hysteresis compensation. A comparison of PID control, inverse control with Prandtl-Ishlinskii (PI) model, adaptive inverse control with PI model, adaptive inverse control with correction network were performed in wide-band tracking application. The experimental results demonstrate that in low frequency conditions (0.1Hz∽1Hz), the above methods have good control performances, and the tracking error is not much different, but under high frequency conditions (5Hz~20Hz), the tracking error of adaptive with PI model and adaptive inverse control with correction network are much better, the RMS tracking error of the piezoelectric bimorph actuators has been reduced from 0.3013 to 0.0489, the experimental results show it performs well in wide-band application.