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Modeling and Tracking Control for piezoelectric actuator Based on a New Asymmetric Hysteresis Model

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 782-791页

作者： Geng Wang Guoqiang Chen Hong Zhou Fuzhong Bai Department of Mechanical and Power Engineering Henan Polytechnic University Laboratory on Adaptive Optics Institute of Optics and Electronics Chinese Academy of Sciences College of Mechanical Engineering Inner Mongolia University of Technology

This paper presents a new asymmetric hysteresis model and its application in the tracking control of piezoelectric actuators. The proposed model is based on a coupled-play operator which can avoid the conventional Prandtl-Ishlinskii(CPI)model's defects, i.e., the symmetric property. The high accuracy for modeling asymmetric hysteresis is validated by comparing simulation results with experimental measurements. In order to further evaluate the performance of the proposed model in closed-loop tracking application, two different hybrid control methods which experimentally demonstrate their performance under the same operating conditions, are compared to validate that the hybrid control strategy with proposed hysteresis model can mitigate the hysteresis more effectively and achieve better tracking precision. The experimental results demonstrate that the proposed modeling and tracking control strategy can realize efficient control of piezoelectric actuator.

关键词： Asymmetric hysteresis model motion control piezoelectric actuator precise tracking

A Novel Bionic piezoelectric actuator Based on the Walrus Motion

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Journal of Bionic Engineering 2021年第5期18卷 1117-1125页

作者： Jianping Li Junjie Cai Nen Wan Yili Hu Jianming Wen Junwu Kan Song Chen Hongwei Zhao Key Laboratory of Urban Rail Transit Intelligent Operation and Maintenance Technology and Equipment of Zhejiang Provincial The Institute of Precision Machinery and Smart StructureCollege of EngineeringZhejiang Normal UniversityJinhua 321004China School of Mechanical and Aerospace Engineering Jilin UniversityChangchun 130025China

A novel bionic piezoelectric actuator based on the walrus motion to achieve high performance on large working stroke for micro/nano positioning systems is first proposed in this *** structure of the proposed walrus type piezoelectric actuator is described,and its motion principle is presented in *** experimental system is set up to verify its feasibility and explore its working *** results indicate that the proposed walrus type piezoelectric actuator could realize large working stroke with only one driving unit and one coupled clamping unit;the maximum stepping displacement isΔL max=19.5μm in the case that the frequency f=1 Hz and the voltage U=120 V;the maximum speed V max=2275.2μm·s^(-1) when the frequency f=900 Hz and the voltage U=120 V;the maximum vertical load m max=350 g while the voltage U=120 V and the frequency f=1 *** study shows the feasibility of mimicking the bionic motion of the real walrus animal to the design of piezoelectric actuators,which is hopeful for the real application of micro/nano positioning systems to achieve large working stroke and high performance.

关键词： piezoelectric actuator Bionic actuator Walrus motion Flexure mechanism

Design of Floating Mass Type piezoelectric actuator for Implantable Middle Ear Hearing Devices

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Chinese Journal of Mechanical Engineering 2009年第2期22卷 221-226页

作者： LIU Houguang TA Na MING Xiaofeng RAO Zhushi State Key Laboratory of Mechanical System and Vibrations Shanghai Jiao Tong University Shanghai 200240 China

To overcome some of the problems inherent in conventional heating aids such as low gain at high fi＇equencies due to acoustic feedback, discomfort in occlusion of the extemal ear canal and so on, implantable middle ear hearing devices （IMEHDs） have been developed over the past two decades. For such kinds of IMEHDs, this paper presents the design of a floating mass piezoelectric actuator using a PMN-30%PT stack as a new type of vibrator. The proposed piezoelectric actuator consists of only three components of a piezoelectric stack, a metal case and a clamp. For the purpose of aiding the design of this actuator, a coupling biomechanics model of human middle ear and the piezoelectric actuator was constructed. This model was built based on a complete set of computerized tomography section images of a healthy volunteer＇s left ear by reverse engineering technology. The validity of this model was confirmed by comparing the motion of the tympanic membrane and stapes footplate obtained by this model with published experimental measurements on human temporal bones. It is shown that the designed actuator can be implanted on the incus long process by a simple surgical operation, and the stapes footplate displacement by its excitation at 10.5 V root-mean-square（RMS） voltage was equivalent to that from acoustic stimulation at 100 dB sound pressure level（SPL）, which is adequate stimulation to the ossicular chain. The corresponding power consumption is 0.04 mW per volt of excitation at 1 kHz, which is low enough for the transducer to be used in an implantable middle ear device.

关键词： piezoelectric actuator implantable middle ear hearing device floating mass fmite element model

Modeling and Design of H-Infinity Controller for piezoelectric actuator LIPCA

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Journal of Bionic Engineering 2010年第2期7卷 168-174页

作者： Gigun Lee Kwanwoo You Taesam Kang Kwang Joon Yoon Jeong Oog Lee Jung Keun Park Department of Aerospace Information Engineering Konkuk University

We proposed a dynamic model identification and design of an H-Infinity （i.e.H） controller using a LightweightPiezo-Composite actuator （LIPCA）.A second-order dynamic model was obtained by using input and output data, and applyingan identification *** identified model coincides well with the real *** reduce the resonating mode that istypical of piezoelectric actuators, a notch filter was used.A feedback controller using the Hcontrol scheme was designed basedon the identified dynamic model; thus, the LIPCA can be easily used as an actuator for biomemetic applications such as artificialmuscles or macro/micro positioning in *** control algorithm was implemented using a microprocessor, analogfilters, and power amplifying *** simulation and experimental results demonstrate that the proposed control algorithmworks well in real environment, providing robust performance and stability with uncertain disturbances.

关键词： piezoelectric actuator model identification H-infinity controller biomimetic artificial muscle LIPCA

Deformation Analysis on Shear-Bending of Ring-Shaped piezoelectric actuator

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Transactions of Nanjing University of Aeronautics and Astronautics 2015年第6期32卷 585-590页

作者：康新董帅何小元 Department of Mechanical Engineering Putian University Department of Mechanics and Engineering Science Nanjing University of Science and Technology Institute of Mechanics Southeast University

Deformation of a simple single piezoelectric actuator is usually quite small.A ring-shaped piezoelectric actuator with large piezoelectrically generated displacement was *** thickness of the actuator was1 mm,and the inner and outer diameters were 4 mm and 40 mm,*** ring-shaped actuator was made of BiScO_3-PbTiO_3(BS-PT)ceramic and polarized in radial *** electric field was applied to thickness direction and a large shear-bending deformation *** Rayleigh-Ritz method and Bessel functions were adopted to analyze the shear-bending *** show that under an electric field of 7.5kV/cm,the maximum displacement at the inner edge of the actuator reached 5.07μm,which agreed well with the corresponding experimental results.

关键词： ring-shaped piezoelectric actuator shear-bending Rayleigh-Ritz method

Stick-Slip Tower-Shaped piezoelectric actuator

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Transactions of Nanjing University of Aeronautics and Astronautics 2015年第2期32卷 156-162页

作者：陈乾伟鞠全勇黄卫清时运来 School of Mechatronic Engineering Jinling Institute of Technology State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and Astronautics

Since stick-slip actuators present the advantage of allowing long displacements(several centimeters or even more)at a high speed with an ultra high resolution(<5nm),a new type of stick-slip piezoelectric actuator is p... 详细信息

Since stick-slip actuators present the advantage of allowing long displacements(several centimeters or even more)at a high speed with an ultra high resolution(piezoelectric actuator is proposed to attain sub-nanometer positioning *** actuator is composed of a slider and a tower-shaped stator using forced bending vibration in y-z plane to generate tangential vibration on the top of the driving *** excited by the sawtooth input voltage,driving foot of the stator is able to generate a tangential asymmetrical vibration on the top,and the slider is thus pushed to move.A prototype and its testing equipment are fabricated and *** that,the testing of vibration mode and mechanical characteristics as well as stepping characteristics are *** results show that under the condition that the sawtooth input voltage is400VP-Pand the pre-pressure is *** of the actuator reaches its maximum 1.2mm/s at the frequency of 8000 Hz and drops to its minimum 35nm/s at the frequency of *** the excitation signal is the single-phase sawtooth stepping signal,the tower-shaped actuator can directionally move forward or backward step by *** when excited by the sawtooth stepping signal with 1Hz and 300VP-Pduring 1cycle(200ms),the actuator has a minimum stepping distance of 22 nm.

关键词： piezoelectric actuator stick-slip sawtooth stepping

Compensation of hysteresis in piezoelectric actuator with iterative learning control

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控制理论与应用（英文版） 2010年第2期8卷 176-180页

作者： Kok Kiong TAN Andi Sudjana PUTRA Tong Heng LEE Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 117576

This paper presents the application of iterative learning control (ILC) to compensate hysteresis in a piezoelectric actuator. The proposed controller is a hybrid of proportional-integral-differential (PID) control, whose main function is for trajectory tracking, and a chatter-based ILC, whose main function is for hysteresis compensation. Stability analysis of the proposed ILC is presented, with the PID included in the dynamic of the piezoelectric actuator. The performance of the proposed controller is analysed through simulation and verified with experiment with a piezoelectric actuator.

关键词： Iterative learning control Hysteresis piezoelectric actuator Stability analysis

A Hammerstein-based Model for Rate-dependent Hysteresis in piezoelectric actuator

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A Hammerstein-based Model for Rate-dependent Hysteresis in P...

Nonlinear cross-coupling of a 2-DOF piezoelectric actuator with multi-channel Hammerstein model

第24届中国控制与决策会议

作者： Zhenyan Wang 1,2 , Zhen Zhang 1 , Jianqin Mao 1 , Kemin Zhou 3 1.School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191,China 2. School of Electronical and Information Engineering, Taiyuan University of Science and Technology, Taiyuan, 030024, China 3. School of Electrical Engineering, Southwest Jiaotong University, Chengdu, 610031, China

Most smart materials used in engineering applications have rate-dependent hysteresis nonlinearity. In this paper, a Hammerstein-based model is proposed to describe the dynamic characteristics of rate-dependent hysteresis in piezoelectric actuator. A Bouc-Wen model is used to approximate the static nonlinear characteristic while a linear dynamic model is constructed to capture the rate-dependent property of the hysteresis. Firstly, Bouc-Wen model parameters are optimized with particle swarm optimization （PSO） algorithm to model the static hysteresis nonlinearity. Based on this constructed static hysteresis nonlinear model, a recursive least squares （RLS） algorithm is utilized to identify the dynamic linear model parameters of Hammerstein model according to the input-output data with rich frequency information. Finally, the experimental results of applying the proposed method to the modeling of rate-dependent hysteresis in a piezoelectric actuator are presented with a 100Hz sinusoidal scanning signal. The model generation capability is verified in the given frequency range from 1Hz to100Hz when the excitation voltage are 40V, 80V, 120V, respectively.

关键词： Hammerstein Bouc-Wen Rate-dependent piezoelectric actuator

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Nonlinear cross-coupling of a 2-DOF piezoelectric actuator w...