Abstract
The piezoceramic actuated stages have rate-dependent hysteresis nonlinearity, which is not simply related to the current and historical input, but also related to the frequency of the input signal, seriously affects its positioning accuracy. Consider the influence of frequency on hysteresis modeling, a rate-dependent hysteresis nonlinearity model that is based on Krasnoselskii–Pokrovskii (KP) operator is proposed in this paper. A hybrid optimization algorithm of improved particle swarm optimization and cuckoo search is employed in order to identify the density function of rate-dependent KP model, avoiding the blind search process caused by the high randomness of Levy’s flight in the cuckoo search algorithm, and improving the parameter identification performance. For the sake of eliminating the hysteresis characteristics, an inverse feed-forward compensation control that is based on recursive method is proposed without any additional conditions, and a feed-forward compensation controller is designed accordingly. The experimental results show that, under different frequency input signals, as compared with the classic KP model, the proposed rate-dependent KP model can accurately describe the rate-dependent hysteresis characteristics of the piezoceramic actuated stages, and the recursive inverse feed-forward compensation control method can effectively mitigate the hysteresis behaviors.
Highlights
With the development of technology, precision positioning technology has put forward higher requirements in terms of positioning accuracy and response speed
In order to verify the accuracy of the proposed RDKP model, sinusoidal signal at various frequency and sinusoidal signal with decreasing amplitude are used to excite the piezoceramic actuated stages
Different forms of reference displacement signals are selected to conduct displacement tracking and control experiments based on RDKP model and classic KP model in order to confirm the effectiveness of recursive inverse feed-forward compensation (RIFC) control strategy
Summary
With the development of technology, precision positioning technology has put forward higher requirements in terms of positioning accuracy and response speed. Many hysteresis modeling methods have been proposed in order to eliminate the hysteresis nonlinearity of piezoceramic actuated stages. Such models typically have a rate-independent hysteretic nature, which is their output variable does not depend on the first derivative of the input one [6,7,8,9]. In [21], an entropy-based optimal compression method was proposed to reduce the number of hysteresis operators for a generalized PI model, and the hysteresis behavior of piezoelectric materials was accurately described. The previous models cannot characterize the rate-dependent hysteresis nonlinearity, which seriously affects the positioning accuracy of the piezoceramic actuated stages. The experiment was carried out through the piezoceramic actuated stages, and experimental results verify the effectiveness of the proposed modeling and control method
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