Modeling of piezoelectric actuator for compensation and controller design |
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Authors: | Jonq-Jer Tzen Shyr-Long Jeng Wei-Hua Chieng |
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Affiliation: | a Department of Mechanical Engineering, National Chiao Tung University, 1001 Ta Hsueh Road, Hsinchu 30049, Taiwan, ROC;b Department of Automation Engineering, Tahwa Institute of Technology, Hsinchu 30049, Taiwan, ROC |
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Abstract: | This work proposes a novel method for describing the hysteretic non-linearity of a piezoelectric actuator. The hysteresis behavior of piezoelectric actuators, including the minor loop trajectory and the residual displacement near zero input, are modeled by a set of hysteresis operators, including a gain and an input-dependent lag, as well as the parameter scheduling method. A hysteresis model, using the identified parameters, and containing only the dominant hysteresis operator, is presented herein. Based upon a simplified hysteresis model, tracking is controlled to reduce the non-linear effects in the characteristics of the piezoelectric actuator. A proportional-integral (PI) controller, with inverse model feed-forward, suppresses the tracking error to within ±1% full span range (FSR) of the actuator, noticeably improving the tracking performance of the piezoelectric actuator. |
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Keywords: | Piezoelectric actuator Hysteresis model Inverse model compensation |
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