A Digitized Representation of the Modified Prandtl-Ishlinskii Hysteresis Model for Modeling and Compensating Piezoelectric Actuator Hysteresis

Imaging-Guided Micromachines: Towards Intelligent Systems

Micromachines with controllable motion, deformation, and collective behaviors provide advanced methods for performing tasks that traditional machines have difficulty completing thanks to the development of small-scale robotics, nanotechnology, biocompatible materials, and imaging techniques [...].

A Modified Prandtl-Ishlinskii Hysteresis Model for Modeling and Compensating Asymmetric Hysteresis of Piezo-Actuated Flexure-Based Systems

Piezo-actuated flexure-based systems are widely used in applications with high accuracy requirements, but the intrinsic hysteresis has a detrimental effect on the performance which should be compensated. Conventional models were presented to model this undesired effect using additional dead-zone operators. This paper presents a new approach using two sets of operators with a distributed compensator to model and compensate for the asymmetric system hysteresis based on inversion calculation with a simplified digitized representation. The experimental results validate the effectiveness of the proposed model in modeling and compensating the asymmetric system hysteresis.

Hysteresis Characteristics and MPI Compensation of Two-Dimensional Piezoelectric Positioning Stage

Piezoelectric positioning stage is the core component of precision positioning system and advanced instrument. Its hysteresis characteristics, especially rate-dependent characteristics, are the main factors affecting the positioning or control accuracy. The multi-slope Prandtl–Ishlinskii (MPI) based hysteresis modeling and compensation experiments of two-dimensional piezoelectric positioning stage are discussed. The impact of the driving voltage amplitude and frequency on the hysteresis characteristics of uniaxial piezoelectric actuator in the piezoelectric positioning stage are studied, especially the influence of variable-frequency voltages on the output displacement of a piezoelectric actuator. The MPI compensation control of two-dimensional piezoelectric positioning stage is carried out, and the fitting coefficient R² is proposed to evaluate the hysteresis compensation accuracy of MPI model. Under the full range driving voltage of 20~120 V, the fitting coefficient reaches more than 99.6%. The experiments of feedforward compensation and feedback compensation are implemented. Having applied the composite triangular-wave signal, the average absolute displacement error of the piezoelectric actuator is 0.1192 μm, as well as the mean square error 0.2949 μm. It demonstrates that the MPI model is effective against hysteresis for two-dimensional piezoelectric positioning stage.