NDLI: Modeling Piezoelectric Actuator Hysteresis with Singularity Free Prandtl-Ishlinskii Model

Content Provider	IEEE Xplore Digital Library
Author	Tan, U.X. Win, T.L. Ang, W.T.
Copyright Year	2006
Description	Author affiliation: Sch. of Mech. & Aerosp. Eng., Nanyang Technol. Univ., Singapore (Tan, U.X.; Win, T.L.; Ang, W.T.)
Abstract	Actuators like piezoelectric, magnetostrictive and shape memory alloy are gaining importance in applications involving high frequency, high precision and yet compactness is needed. The PI operator, while being able to model the hysteresis behaviour of a piezoelectric actuator well, has one major inadequacy: the inverse of the operator does not exist when the slope of the hysteretic curve is not positive definite, i.e. singularity occurs when the PI weights les 0. There is an inevitable trade-off between modeling accuracy and inversion stability. The modeling of the hysteretic loop gets better with the number of backlash operators used in the modeling. However, as the piecewise continuous interval represented by each backlash operator shrinks, there is a greater chance for the reciprocal of the PI weights to be ill conditioned, especially at the hysteretic curve turning points. Similar ill conditioned situations also arise when the actuators are used to actuate heavy loads or when operating at high frequency. This paper proposes extension to the PI operator to map the hysteresis data through a linear transformation onto another domain, where the inversion would be better behaved. The inverse weights are evaluated in this domain and are subsequently used to compute the inverse hysteresis model, which is to be used in the feed-forward controller, before the inverse model is transformed back to the original domain.
Starting Page	251
Ending Page	256
File Size	6123777
Page Count	6
File Format	PDF
ISBN	142440570X
DOI	10.1109/ROBIO.2006.340162
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Piezoelectric actuators Magnetic hysteresis Inverse problems Feedforward systems Sliding mode control Frequency Displacement control Mathematical model Microscopy Robots piezoelectric hysteresis Prandtl-Ishlinskii
Content Type	Text
Resource Type	Article

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