Adaptive hysteresis compensation of piezoelectric actuator using direct inverse modelling approach

Yanding Qin; Rurui Jia

Adaptive hysteresis compensation of piezoelectric actuator using direct inverse modelling approach

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Author(s): Yanding Qin^{1, 2} and Rurui Jia^{1, 2}
- Affiliations: 1: Institute of Robotics and Automatic Information System, Nankai University , Tianjin 300350 , People's Republic of China ;
  2: Tianjin Key Laboratory of Intelligent Robotics, Nankai University , Tianjin 300350 , People's Republic of China
Source: Volume 13, Issue 2, February 2018, p. 180 – 183
DOI: 10.1049/mnl.2017.0469 , Online ISSN 1750-0443

Received 24/06/2017, Accepted 08/09/2017, Revised 14/08/2017, Published 01/02/2018

Hysteretic non-linearity significantly degrades the motion accuracy of piezoelectric actuators (PEAs). Hysteresis modelling and inversion (MI) is a widely-accepted hysteresis compensation approach. Alternately, direct inverse modelling (DIM) approach has also been proposed to directly identify the inverse hysteresis model. DIM is superior to MI as the inversion calculation has been totally eliminated, making DIM applicable in both rate-independent and rate-dependent hysteretic systems. This work proposes a further development of DIM by integrating adaptive projection (AP) algorithm so that parameters of the inverse hysteresis model can be automatically updated without any off-line identification. This work compares the proposed method with other methods via tracking continuous and discontinuous trajectories. Experimental results show that the integration of DIM and AP is effective in attenuating the hysteretic non-linearity and improving the trajectory tracking performance of the PEA.

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Adaptive hysteresis compensation of piezoelectric actuator using direct inverse modelling approach

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