Modeling and Control for Giant Magnetostrictive Actuators with Rate-Dependent Hysteresis
TL;DR: A relevance vector machine (RVM) model is proposed for describing the hysteresis nonlinearity under varying input current and a proportional integral derivative (PID) control scheme combined with a feedforward compensation is implemented on a giant magnetostrictive actuator for real-time precise trajectory tracking.
Abstract: The rate-dependent hysteresis in giant magnetostrictive materials is a major impediment to the application of such material in actuators. In this paper, a relevance vector machine (RVM) model is proposed for describing the hysteresis nonlinearity under varying input current. It is possible to construct a unique dynamic model in a given rate range for a rate-dependent hysteresis system using the sinusoidal scanning signals as the training set input signal. Subsequently, a proportional integral derivative (PID) control scheme combined with a feedforward compensation is implemented on a giant magnetostrictive actuator (GMA) for real-time precise trajectory tracking. Simulations and experiments both verify the effectiveness and the practicality of the proposed modeling and control methods.
Citations
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TL;DR: In this paper, various mathematical models for hysteresis such as Preisach, Krasnosel’skii-Pokrovskii (KP), Prandtl-Ishlinskii (PI), Maxwell-Slip, Bouc-Wen and Duhem are surveyed in terms of their applications in modeling, control and identification of dynamical systems.
372 citations
Cites methods from "Modeling and Control for Giant Magn..."
...In [130,131], an inverse model was proposed for magneto-rheological dampers to enhance force tracking control under the effect of nonlinear hysteresis....
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TL;DR: In this paper, a second-order filter is proposed to overcome the design conflict between the quantized networked control signal and the rate-dependent hysteresis characteristics, and a novel adaptive control strategy is developed from a neural network technique and a modified backstepping recursive design.
Abstract: In controlling nonlinear uncertain systems, compensating for rate-dependent hysteresis nonlinearity is an important, yet challenging problem in adaptive control. In fact, it can be illustrated through simulation examples that instability is observed when existing control methods in canceling hysteresis nonlinearities are applied to the networked control systems (NCSs). One control difficulty that obstructs these methods is the design conflict between the quantized networked control signal and the rate-dependent hysteresis characteristics. So far, there is still no solution to this problem. In this paper, we consider the event-triggered control for NCSs subject to actuator rate-dependent hysteresis and failures. A new second-order filter is proposed to overcome the design conflict and used for control design. With the incorporation of the filter, a novel adaptive control strategy is developed from a neural network technique and a modified backstepping recursive design. It is proved that all the control signals are semiglobally uniformly ultimately bounded and the tracking error will converge to a tunable residual around zero.
54 citations
TL;DR: A comprehensive model, which thoroughly considers the electric, magnetic, and mechanical domain, as well as the interactions among them, is developed and demonstrates that the comprehensive model presents an excellent agreement with dynamic behaviors of the magnetostrictive actuator.
Abstract: Magnetostrictive actuators featuring high energy densities, large strokes, and fast responses are playing an increasingly important role in micro/nano-positioning applications. However, such actuators with different input frequencies and mechanical loads exhibit complex dynamics and hysteretic behaviors, posing a great challenge on applications of the actuators. Therefore, it is important to develop a dynamic model that can characterize dynamic behaviors of the actuators, including current-magnetic flux nonlinear hysteresis, frequency responses, and loading effects, simultaneously. To this end, a comprehensive model, which thoroughly considers the electric, magnetic, and mechanical domain, as well as the interactions among them, is developed in this paper. To validate the developed model, the parameters of the model are identified where the hysteresis of the magnetostrictive actuator is described, as an illustration, by the asymmetric shifted Prandtl–Ishlinskii model. The experimental results demonstrate that the comprehensive model presents an excellent agreement with dynamic behaviors of the magnetostrictive actuator.
31 citations
Cites background from "Modeling and Control for Giant Magn..."
...Digital Object Identifier 10.1109/TII.2016.2543027 I. INTRODUCTION M AGNETOSTRICTIVE materials are a class of materi-als that change their shape when exposed to an external magnetic field....
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TL;DR: In this paper, the cerebella model articulation controller is used as a feed forward controller to establish a nonlinear inverse model of giant magnetostrictive material (GMM).
Abstract: The cerebella model articulation controller is used as a feedforward controller to establish a nonlinear inverse model of giant magnetostrictive material (GMM). This controller can eliminate the effect of nonlinear hysteresis response of GMM and realize linear control. A PID feedback control is employed to improve the stability and accuracy of the system. The output of the system can map the target input of the system accurately using the compound controller. An experimental platform was built, and the availability of the compound controller was tested on it. Most of the errors of the controlled system were limited in 6 %.
13 citations
TL;DR: Active vibration control to suppress structural vibration of the flexible structure is investigated based on a new control strategy considering structure-actuator interaction, and the interaction model based on magnetomechanical coupling is incorporated into the control system.
Abstract: Active vibration control to suppress structural vibration of the flexible structure is investigated based on a new control strategy considering structure-actuator interaction. The experimental system consists of a clamped-free rectangular plate, a controller based on modal control switching, and a magnetostrictive actuator utilized for suppressing the vibrations induced by external excitation. For the flexible structure, its deformation caused by the external actuator will affect the active control effect. Thus interaction between structure and actuator is considered, and the interaction model based on magnetomechanical coupling is incorporated into the control system. Vibration reduction strategy has been performed resorting to the actuator in optimal position to suppress the specified modes using LQR (linear quadratic regulator) based on modal control switching. The experimental results demonstrate the effectiveness of the proposed methodology. Considering structure-actuator interaction (SAI) is a key procedure in controller design especially for flexible structures.
8 citations
References
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TL;DR: In this article, a rate-dependent Prandtl-Ishlinskii model is developed for describing the ratedependent hysteresis behavior of the actuator under harmonic, complex harmonic and triangular excitations in the 0.1-500-Hz frequency range.
133 citations
TL;DR: In this paper, a generalized gradient of the output with respect to the input of the hysteresis and the derivative of the input that represents the frequency change of input are introduced into the input space.
Abstract: A method for the identification of the rate-dependent hysteresis in piezoceramic actuators is proposed. In this approach, both a so-called generalized gradient of the output with respect to the input of the hysteresis and the derivative of the input that represents the frequency change of the input are introduced into the input space. Then an expanded input space is established. Thus, the multi-valued mapping of the rate-dependent hysteresis can be transformed into a one-to-one mapping based on the expanded of the input space. In this case, the neural network method can be applied to the modeling of the rate-dependent hysteresis. Finally, the experimental results are presented to illustrate the performance of the proposed approach.
126 citations
110 citations
TL;DR: In this article, the authors proposed an inverse compensator for a class of ferromagnetic transducers including magnetostrictive actuators, which is based on the quantification of the energy required to translate domain walls pinned at inclusions in the material with the magnetization at a given field level specified through the solution of an ordinary differential equation.
76 citations
TL;DR: The contribution of the paper is the development of an adaptive algorithm in which a pseudo-inversion is introduced to avoid difficulties of the directly inverse construction for complex hysteresis models, especially for the unknown hysteResis case.
59 citations