Abstract
Piezoelectric actuator has the advantages of high rigidity, wide bandwidth, fast response and high resolution. Therefore, they are widely used in many micro and nano positioning applications. However, the hysteresis characteristic in the piezoelectric actuator (PEA) seriously affects its positioning accuracy and even causes instability. In this paper, a modified Prandtl-Ishlinskii (MPI) model, which can describe the rate asymmetric hysteresis of piezoelectric actuator, is studied. The hysteresis compensation is realized by using the rate dependent Prandtl-Iishlinskii model based on the improved Prandtl-Iishlinskii hysteresis model and the hysteresis characteristics of the driver measured in the laboratory under the frequency input of up to 100 Hz. In order to further reduce the error of feedforward compensation, a sliding mode controller is designed. The stability of the control system is proved by Lyapunov theory. The experimental results show that the linear error of the system is reduced from 10% to less than 1%, and the tracking error can also be reduced by 90%.
Highlights
Piezoelectric actuator has the advantages of large output force, wide frequency band and fast frequency response
Piezoelectric actuators play an important role in micro nano applications [1]
As a kind of polar material, piezoelectric actuator often shows the nonlinear hysteresis between input current and output displacement
Summary
Piezoelectric actuator has the advantages of large output force, wide frequency band and fast frequency response. A control method for parameter uncertainty, nonlinearity (including hysteresis effect) and other unmodelled disturbances is proposed, and the asymmetric hysteresis characteristics of generalized play operator are described by using the improved PI model (MPI). This MPI has been used in model-based compensation schemes. In order to further reduce the influence of compensation error, parameter uncertainty and external interference, based on the identification model of piezoelectric actuator, the proposed sliding mode control method is established, and the proposed control method is analyzed.
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