Modeling Rate-dependent Hysteresis in Piezoelectric Actuator

Wei-Tech Ang, Cameron Riviere, and Pradeep Khosla
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003, pp. 1975 - 1980.


Download
  • Adobe portable document format (pdf) (389KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Hysteresis of a piezoelectric actuator is rate-dependent. Most hysteresis models are based on elementary rate-independent operators and are not suitable for modeling actuator behavior across a wide frequency band. This work proposes a rate-dependent modified Prandtl-Ishlinskii (PI) operator to account for the hysteresis of a piezoelectric actuator at varying frequency. We have shown experimentally that the relationship between the slope of the hysteretic loading curve and the rate of control input can be modeled by a linear function. The proposed rate-dependent hysteresis model is implemented for open-loop control of a piezoelectric actuator. In experiments tracking multi-frequency nonstationary motion profiles, it consistently outperforms its rate-independent counterpart by a factor of two in maximum error and a factor of three in rms error.

Notes
Associated Center(s) / Consortia: Medical Robotics Technology Center
Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory
Associated Project(s): Micron: Intelligent Microsurgical Instruments
Number of pages: 6

Text Reference
Wei-Tech Ang, Cameron Riviere, and Pradeep Khosla, "Modeling Rate-dependent Hysteresis in Piezoelectric Actuator," Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003, pp. 1975 - 1980.

BibTeX Reference
@inproceedings{Ang_2003_4588,
   author = "Wei-Tech Ang and Cameron Riviere and Pradeep Khosla",
   title = "Modeling Rate-dependent Hysteresis in Piezoelectric Actuator",
   booktitle = "Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems",
   pages = "1975 - 1980",
   year = "2003",
}