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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",
}

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