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.


    Access

    Download


    Export, share and cite



    Title :

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


    Contributors:

    Publication date :

    2016-01-23


    Remarks:

    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


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Design and 3D printed implementation of a microgripper actuated by a piezoelectric stack

    Ferrara-Bello, C. A. / Sandoval-Reyes, J. O. / Vargas-Chable, P. et al. | IEEE | 2019


    Control of a piezoelectric actuator considering hysteresis

    Gomis-Bellmunt, Oriol | Online Contents | 2009


    Amplified piezoelectric actuator for cryogenic applications

    Traianidis, M. / Martic, G. / Lardot, V. | TIBKAT | 2013

    Free access

    Piezoelectric stack actuator life test

    Sherrit, S / Xiaoqi Bao, / Jones, C M et al. | IEEE | 2011


    Piezoelectric stack actuator life test

    Sherrit, S. / Bao, Xiaoqi / Jones, C.M. et al. | Tema Archive | 2011