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.
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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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20 Jun 2007
TL;DR: This paper proposes a phenomena rate-dependent model using a modified Prandtl-Ishlinskii (PI) operator without singularity to model the behavior of piezoelectric actuators, even when subjected to varying frequency signals.
Abstract: Actuators using advance materials like piezoelectric and shape memory alloy are gaining popularity in applications involving high frequency, high precision and also when there's a need in compactness. As time is required for the switching of polarization, the phenomena hysteretic behavior of these materials changes with rate. Most present hysteresis models are based on rate-independent assumption and cannot be applied for non-periodic applications. To make matters worse, the hysteresis actually becomes ill-conditioned when the velocity is high at the turning point. This paper proposes a phenomena rate-dependent model using a modified Prandtl-Ishlinskii (PI) operator without singularity to model the behavior of piezoelectric actuators, even when subjected to varying frequency signals. Past work had shown that the weights of the Prandtl-Ishlinskii operators vary linearly with velocity when the velocity is less than 900mum/s. As the first weight becomes negative when operating at higher frequencies, the threshold value has to be kept large to avoid the singularity problem when computing the inverse Prandtl-Ishlinskii model. Similar ill-conditioned problems also arise when the actuators are subjected to heavy loads. Thus, this paper proposes extensions to the PI operator by mapping the hysteresis data through a linear transformation onto a domain where the singularity problem is removed. The inverse weights are obtained and subsequently used to compute the inverse hysteresis model and implemented as an open-loop feedforward control of a piezoelectric actuator.
10 citations
"Modeling and Control for Giant Magn..." refers methods in this paper
...Recent propositions include the modified Preisach model [3], the modified Prandtl-Ishlinskii model [4], and the generalized Prandtl-Ishlinskii model [5]....
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Proceedings Article•
02 Oct 2009TL;DR: In this paper, a method of modeling hysteresis of a class of smart structures generated by both varying input current and mechanical loads on account of effective application in trajectory tracking with a precision under sub-micron level is proposed.
Abstract: This paper addresses a method of modeling hysteresis of a class of smart structures generated by both varying input current and mechanical loads on account of effective application in trajectory tracking with a precision under sub-micron level. The proposed hysteresis model is a modification of the classical Preisach operator by introducing the dependence of the density function on the stress. The parameter identification procedure of the model including an adaptive-tree-structure-based fuzzy method, abbreviated as fuzzy tree, is provided. Based on the model, a feedback control scheme combined with a feed-forward inverse compensator is implemented to a magnetostrictive smart structure (MSS) for real-time precise trajectory tracking. Compared with a classical hystersis model, the proposed model and control scheme experimentally showed a dramatically improved performance of the MSS.
5 citations
"Modeling and Control for Giant Magn..." refers background in this paper
...A biased magnetic field generated by the permanent magnet and the prestress are introduced to produce bidirectional actuation and to improve performance of the Terfenol-D rod, respectively [1]....
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