Title: Compensation of play operator-based Prandtl-Ishlinskii hysteresis model using a stop operator with application to piezoelectric actuators

Authors: Zhi Li; Omar Aljanaideh; Subhash Rakheja; Chun-Yi Su; Mohammad Al Janaideh

Addresses: Department of Mechanical and Industrial Engineering, Concordia University, 1455 de Maisonneuve Blvd. W., Montreal, Quebec, H3G 1M8, Canada. ' Department of Mechanical and Industrial Engineering, Concordia University, 1455 de Maisonneuve Blvd. W., Montreal, Quebec, H3G 1M8, Canada. ' Department of Mechanical and Industrial Engineering, Concordia University, 1455 de Maisonneuve Blvd. W., Montreal, Quebec, H3G 1M8, Canada. ' Department of Mechanical and Industrial Engineering, Concordia University, 1455 de Maisonneuve Blvd. W., Montreal, Quebec, H3G 1M8, Canada. ' Department of Mechatronics Engineering, The University of Jordan, Amman, 11942, Jordan

Abstract: Piezoelectric actuators exhibit limited tracking performance in precision control due to their inherent hysteresis non-linearity. In this paper, the hysteresis behaviour is described by a play operator-based Prandtl-Ishlinskii (PPI) model. A corresponding stop operator-based Prandtl-Ishlinskii (SPI) model is utilised to compensate for the hysteresis non-linearity. For this purpose, the two parameters describing the SPI model, the thresholds and the weights, are analytically derived based on the PPI model, which constitutes a main contribution of the paper. As an illustration, the effectiveness of the compensator is demonstrated through experimental results attained with a piezoelectric micro-positioning stage. The experimental results show that the SPI model can serve as an effective feedforward compensator and can thus enhance the tracking/positioning precision of the piezoelectric actuators.

Keywords: Prandtl-Ishlinskii hysteresis model; play operator; stop operator; feedforward compensator; piezoelectric actuators; tracking accuracy; positioning precision; precision control.

DOI: 10.1504/IJAMECHS.2012.045497

International Journal of Advanced Mechatronic Systems, 2012 Vol.4 No.1, pp.25 - 31

Published online: 30 Aug 2014 *

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