Feedforward Controller With Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications

Wei-Tech Ang, Pradeep Khosla, and Cameron Riviere
IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 2, April, 2007, pp. 134-142.


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Abstract
Effective employment of piezoelectric actuators in microscale dynamic trajectory-tracking applications is limited by two factors: 1) the intrinsic hysteretic behavior of piezoelectric ceramic and 2) structural vibration as a result of the actuator? own mass, stiffness, and damping properties. While hysteresis is rate-independent, structural vibration increases as the piezoelectric actuator is driven closer to its resonant frequency. Instead of separately modeling the two interacting dynamic effects, this work treats their combined effect phenomenologically and proposes a rate-dependent modified Prandtl?shlinskii operator to account for the hysteretic nonlinearity of a piezoelectric actuator at varying actuation frequency. It is 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 up to a driving frequency of 40 Hz.

Keywords
Feedforward controller, hysteresis modeling, piezoelectric actuators

Notes
Sponsor: NIH, NSF
Grant ID: R01EB000526, EEC-9731748
Associated Center(s) / Consortia: Medical Robotics Technology Center
Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory
Associated Project(s): Micron: Intelligent Microsurgical Instruments

Text Reference
Wei-Tech Ang, Pradeep Khosla, and Cameron Riviere, "Feedforward Controller With Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications," IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 2, April, 2007, pp. 134-142.

BibTeX Reference
@article{Ang_2007_5983,
   author = "Wei-Tech Ang and Pradeep Khosla and Cameron Riviere",
   title = "Feedforward Controller With Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications",
   journal = "IEEE/ASME Transactions on Mechatronics",
   pages = "134-142",
   month = "April",
   year = "2007",
   volume = "12",
   number = "2",
}