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.
Hysteresis Modeling of Amplified Piezoelectric Stack Actuator for the Control of the Microgripper
23.01.2016
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
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Control of a piezoelectric actuator considering hysteresis
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