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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Novel Direct Inverse Modeling Approach for Hysteresis Compensation of Piezoelectric Actuator in Feedforward Applications
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A Novel Direct Inverse Modeling Approach for Hysteresis Compensation of Piezoelectric Actuator in Feedforward Applications

机译：前馈应用中压电执行器磁滞补偿的新型直接逆建模方法

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摘要

The Prandtl–Ishlinskii (PI) model is widely utilized in hysteresis modeling and compensation of piezoelectric actuators. For systems with rate-independent hysteresis, the inverse PI model is analytically feasible and it can be adopted as a feedforward compensator for the hysteretic nonlinearity of piezoelectric actuators. However, for the rate-dependent PI model, the applicable valid inversion methodology is not yet available. Although simply replacing all the rate-independent terms in the conventional inversion law with the rate-dependent terms can achieve acceptable results at very slow trajectories. However, a large theoretical modeling error is inevitable at fast trajectories, which is investigated through simulations. This paper proposes a new direct approach to derive the inverse PI model directly from experimental data. As no inversion calculation is involved, the proposed direct approach is efficient and the theoretical modeling error can be avoided. In order to validate the accuracy of the direct approach, a number of experiments have been implemented on a piezo-driven compliant mechanism by utilizing the inverse PI model as a feedforward controller. The tracking performance of the mechanism is significantly improved by the direct approach.
机译：Prandtl–Ishlinskii（PI）模型被广泛用于压电执行器的滞后建模和补偿。对于具有与速率无关的磁滞的系统，逆PI模型在分析上是可行的，并且可以用作压电执行器磁滞非线性的前馈补偿器。但是，对于基于速率的PI模型，尚无适用的有效反演方法。尽管简单地将常规反演定律中所有与速率无关的项替换为与速率有关的项可以在非常慢的轨迹上获得可接受的结果。但是，在快速轨道上不可避免地会出现较大的理论建模误差，这需要通过仿真进行研究。本文提出了一种直接从实验数据中直接获得逆PI模型的新方法。由于不涉及反演计算，因此所提出的直接方法是有效的，并且可以避免理论建模误差。为了验证直接方法的准确性，通过利用逆PI模型作为前馈控制器，在压电驱动的顺应机构上进行了许多实验。通过直接方法，该机制的跟踪性能显着提高。

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