This paper presents Bouc-Wen hysteresis modelling and tracking control of piezoelectric stack APA120S. The actuator is used to control a microgripper. A modified Bouc-Wen non-symmetric model is applied to study the behaviour of the system in static and dynamic state. The good agreement between predicted and measured curve showed that the Bouc-Wen model is an effective mean for modelling the hysteresis of piezoelectric actuator system. Subsequently, the inverse Bouc-Wen model is formulated and applied to cancel the non-linear hysteresis. In perspective of a control design, it is desirable to linearize the non-linear Bouc-Wen model to produce a static system. Finally, in order to increase damping of the actuator system and to improve the control accuracy, a cascaded PID controller is designed with consideration of the dynamics and static behaviour of the actuator. Experiment result shows that error is of only 5% if PID is cascaded with hysteresis compensation. Therefore, hysteresis compensation with PID controller greatly improves the micromanipulation accuracy of the microgripper actuated by piezoelectric stack.


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    Titel :

    Hysteresis Modeling of Amplified Piezoelectric Stack Actuator for the Control of the Microgripper


    Beteiligte:

    Erscheinungsdatum :

    23.01.2016


    Anmerkungen:

    American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS); Vol 15 No 1 (2016): VOLUME 15, ISSUE 1: (January - 2016); 265-281 ; 2313-4402 ; 2313-4410


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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