A Modified Prandtl-Ishlinskii Model for Rate-dependent Hysteresis Nonlinearity Using mth-power Velocity Damping Mechanism. (10th October 2014)

• Record Type: Journal Article
• Authors: Yang, Mei-Ju; Li, Chun-Xia; Gu, Guo-Ying; Zhu, Li-Min
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 10(2014)
• Publication Date: 2014-10-10
• Subjects: Piezoelectric Actuators -- Hysteresis Modelling -- Rate-dependent -- Prandtl-Ishlinskii; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/58984
• Languages: English
• ISSNs: 1729-8806

Abstract

Hysteresis of piezoelectric actuators is rate-dependent at high frequencies, but most of the hysteresis models are rate-independent and cannot describe the rate-dependent hysteresis nonlinearity independently. In this paper, a modified Prandtl-Ishlinskii (P-I) model is proposed to characterize the rate-dependent hysteresis of piezoelectric actuators under sinusoidal excitation. This model is formulated by a m th-power velocity damping model in conjunction with the rate-independent P-I model. The parameter identification of this model is divided into two steps using different experimental data and algorithms. The particle swarm optimization is introduced first to identify the rate-independent parameters, and the nonlinear least square method is adopted afterwards to identify the rate-dependent parameters which are functions of the excitation frequency. Moreover, the proposed P-I model is developed to describe hysteresis nonlinearity under triangular excitation by introducing weighted functions, i.e., Λ i . Finally, the model results attained under the sinusoidal and triangular inputs at different frequencies are compared with the corresponding experimental data. The comparisons demonstrate that the proposed P-I model can well describe hysteresis nonlinearity under sinusoidal excitation up to 1, 500 Hz and triangular excitation up to 250 Hz, respectively.