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Micromachines 2017, 8(4), 114;

Modeling and Identification of the Rate-Dependent Hysteresis of Piezoelectric Actuator Using a Modified Prandtl-Ishlinskii Model

1,2,* , 1,2
Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300350, China
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China
Author to whom correspondence should be addressed.
Academic Editors: Ulrich Schmid and Michael Schneider
Received: 20 December 2016 / Revised: 21 March 2017 / Accepted: 29 March 2017 / Published: 4 April 2017
(This article belongs to the Special Issue Piezoelectric MEMS)
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Piezoelectric actuator (PEA) is an ideal microscale and nanoscale actuator because of its ultra-precision positioning resolution. However, the inherent hysteretic nonlinearity significantly degrades the PEA’s accuracy. The measured hysteresis of PEA exhibits strong rate-dependence and saturation phenomena, increasing the difficulty in the hysteresis modeling and identification. In this paper, a modified Prandtl-Ishlinskii (PI) hysteresis model is proposed. The weights of the backlash operators are updated according to the input rates so as to account for the rate-dependence property. Subsequently, the saturation property is realized by cascading a polynomial operator with only odd powers. In order to improve the efficiency of the parameter identification, a special control input consisting of a superimposition of multiple sinusoidal signals is utilized. Because the input rate of such a control input covers a wide range, all the parameters of the hysteresis model can be identified through only one set of experimental data, and no additional curve-fitting is required. The effectiveness of the hysteresis modeling and identification methodology is verified on a PEA-driven flexure mechanism. Experimental results show that the modeling accuracy is on the same order of the noise level of the overall system. View Full-Text
Keywords: piezoelectric actuator; hysteresis; rate-dependence; Prandtl-Ishlinskii piezoelectric actuator; hysteresis; rate-dependence; Prandtl-Ishlinskii

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Qin, Y.; Zhao, X.; Zhou, L. Modeling and Identification of the Rate-Dependent Hysteresis of Piezoelectric Actuator Using a Modified Prandtl-Ishlinskii Model. Micromachines 2017, 8, 114.

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