Tracking control of a piezoceramic actuator
TL;DR: The results show that the tracking control performance is greatly improved by augmenting the feedback loop with a model of hysteresis in the feedforward loop.
Abstract: The tracking control accuracy of piezoceramic actuators is limited due to their inherent hysteresis nonlinearity. This paper presents a computer-based tracking control approach for a piezoceramic actuator based on incorporating a feedforward loop with a PID (proportional-integral-derivative) feedback controller. The hysteresis nonlinearity of the piezoceramic actuator is modeled in the feedforward loop by using the classical Preisach model. Experiments were performed on a stacked piezoceramic actuator for tracking sinusoidal waveforms with signal frequencies ranging from 0.1-20 Hz. A comparison was made between a feedforward control scheme, a regular PID feedback control scheme, and a PID feedback control scheme with hysteresis modeling in the feedforward loop. The results show that the tracking control performance is greatly improved by augmenting the feedback loop with a model of hysteresis in the feedforward loop. The maximum error in tracking a sinusoidal waveform is about half that obtained using a regular PID controller.
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TL;DR: This paper presents an overview of nanopositioning technologies and devices emphasizing the key role of advanced control techniques in improving precision, accuracy, and speed of operation of these systems.
Abstract: Nanotechnology is the science of understanding matter and the control of matter at dimensions of 100 nm or less. Encompassing nanoscale science, engineering, and technology, nanotechnology involves imaging, measuring, modeling, and manipulation of matter at this level of precision. An important aspect of research in nanotechnology involves precision control and manipulation of devices and materials at a nanoscale, i.e., nanopositioning. Nanopositioners are precision mechatronic systems designed to move objects over a small range with a resolution down to a fraction of an atomic diameter. The desired attributes of a nanopositioner are extremely high resolution, accuracy, stability, and fast response. The key to successful nanopositioning is accurate position sensing and feedback control of the motion. This paper presents an overview of nanopositioning technologies and devices emphasizing the key role of advanced control techniques in improving precision, accuracy, and speed of operation of these systems.
1,027 citations
Cites background or methods from "Tracking control of a piezoceramic ..."
...Hence, the current output state of the actuator not only depends on the current voltage input but also on its past history [117]....
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...[153], the Preisach model [117], [126], [154], the MRC model...
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TL;DR: In this paper, an inversion-based approach to compensate for hysteresis and vibrations in the piezodynamics has been proposed to improve both the accuracy and the speed of piezoactuators.
Abstract: Structural vibrations and hysteresis nonlinearities in piezoactuators have been fundamental limitations when using these actuators for high-speed precision-positioning applications. Positioning speed (bandwidth) is limited by structural vibrations, typically, to about one-tenth the fundamental vibrational frequency of the piezoprobe. Further, precision in positioning is limited by hysteresis nonlinearities, which can result in signie cant errors for large-range positioning applications. This paper shows that signie cant improvements in precision and bandwidth can be achieved by using an inversion-based approach to compensate for hysteresis and vibrations in the piezodynamics. Theapproach decouplestheinversion into 1 )inversion of thehysteresisnonlinearity and 2 )inversion ofthe structuraldynamics,toe ndaninputvoltageproe lethatachievesprecisiontracking ofa desiredpositiontrajectory. Theapproachisappliedtoapiezoactuator,andexperimentalresultsshowthatanorderofmagnitudeimprovement in positioning speed is achieved, while maintaining precision tracking of the desired position trajectory. I. Introduction P IEZOACTUATORS can achieve nanometer resolution positioning and are hence increasingly being used for ultraprecision positioning in aerospace applications, 1;2 vibration control, scanning probe microscopy for surface characterization, and nanofabrication. 3i5 Two major limitations of present positioning techniquesusing piezoactuatorsare 1 )lowoperating bandwidthdue to positioning errors caused by structural vibrations at high speeds and 2) low precision for relatively large-range displacements (due to errors caused by hysteresis nonlinearities ), resulting in restricted positioning range. This paper presents a method to improve both the accuracy and the speed of piezoactuators by using an inversionbased approach to e nd the voltage input to the piezoactuators that compensates for the hysteresis nonlinearities and the structural vibrations. This approach e rst decouples the system dynamics into two separate subsystems that model 1 ) the hysteresis nonlinearity
721 citations
TL;DR: In this paper, an electromechanical piezo model based on physical principles is presented, where a first-order differential equation is adopted to describe the hysteresis effect, and a partial-differential equation is used to describe mechanical behavior.
Abstract: The piezoelectric actuator (PEA) is a well-known device for managing extremely small displacements in the range from 10 pm to 100 /spl mu/m. When developing a control system for a piezo-actuated positioning mechanism, the actuator dynamics have to be taken into account. An electromechanical piezo model, based on physical principles, is presented in this paper. In this model, a first-order differential equation is adopted to describe the hysteresis effect, and a partial differential equation is used to describe the mechanical behavior. Since, in practice, a PEA is most often used as an actuator for positioning mechanisms, we considered the influence of such a mechanism on the overall mechanical behavior of PEA and positioning mechanism together. For a well-designed mechanism, the overall mechanical behavior practically equals that of a single mass-spring-damper system, of which the undamped eigenfrequency and the relative damping can be designed favorably. With respect to traditional voltage steering, charge steering has the advantage that no hysteresis is encountered between electrical input and elongation. Electrical steering configurations for both cases of steering are presented. Finally, for the case of charge steering, we derived the total model of a piezo-actuated positioning mechanism. This model is dominated by the mechanical model, which could be designed favorably. Therefore, this model gives a broad range of possibilities for model-based controller design.
589 citations
Cites background from "Tracking control of a piezoceramic ..."
...Examples where only the linear dynamics has been modeled are, e.g., [6] and [18], and examples where only the hysteresis has been modeled are, e.g., [9], [10], [12], and [19]....
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TL;DR: A novel dynamic model is proposed for the hysteresis in magnetostrictive actuators by coupling a Preisach operator to an ordinary differential equation, and a parameter identification method is described.
498 citations
Additional excerpts
...A popular phenomenological hysteresis model adopted for smart materials is the Preisach model (Adly, Mayergoyz & Bergqvis, 1991; Hughes & Wen, 1994; Ge & Jouaneh, 1996; Gorbet, Wang, & Morris, 1998; Cruz-Hernandez & Hayward, 2001; Tan, Venkataraman, & Krishnaprasad, 2001; Natale, Velardi, & Visone,…...
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TL;DR: In this paper, the classical preisach hysteresis modeling and tracking control of a curved pre-stressed piezoceramic patch actuator system with severe hystresis is presented.
Abstract: This paper presents the classical Preisach hysteresis modeling and tracking control of a curved pre-stressed piezoceramic patch actuator system with severe hysteresis The actuator is also flexible with very small inherent damping It has potential applications in active antennas A series of tests are conducted to study the hysteresis properties of the piezoceramic actuator system The numerical expressions of the classical Preisach model for different input variations are presented The classical Preisach model is applied to simulate the static hysteresis behavior of the system Higher order hysteresis reversal curves predicted by the classical Preisach model are verified experimentally The good agreement found between the measured and predicted curves showed that the classical Preisach model is an effective mean for modeling the hysteresis of the piezoceramic actuator system Subsequently, the inverse classical Preisach model is established and applied to cancel the hysteresis the piezoceramic actuator system for the real-time microposition tracking control In order to improve the control accuracy and to increase damping of the actuator system, a cascaded PD/lead-lag feedback controller is designed with consideration of the dynamics of the actuator In the experiments, two cases are considered, control with major loop hysteresis compensation, and control with minor loop hysteresis compensation Experimental results show that RMS tracking errors are reduced by 50% to 70% if the hysteresis compensation is added in the feedforward path in both cases Therefore, hysteresis compensation with the feedback controller greatly improves the tracking control accuracy of the piezoceramic actuator
465 citations
References
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Book•
01 Jan 1980
TL;DR: This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems and thoroughly integrates MATLAB statements and problems to offer readers a complete design picture.
Abstract: From the Publisher:
This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude Both classical and modern control methods are described and applied to illustrative examples The strengths and limitations of each method are explored to help the reader develop solid designs with the least effort Two new chapters have been added to the third edition offering a review of feedback control systems and an overview of digital control systems Updated to be fully compatible with MATLAB versions 4 and 5, the text thoroughly integrates MATLAB statements and problems to offer readers a complete design picture The new edition contains up-to-date material on state-space design and twice as many end-of-chapter problems to give students more opportunities to practice the material
3,756 citations
Book•
01 Jan 1986TL;DR: A new approach to the scalar Preisach model of hysteresis, which emphasizes its phenomenological nature and mathematical generality, is described in this paper, which gives the necessary and sufficient conditions for the representation of actual hystresis nonlinearities by the scalareach model.
Abstract: A new approach to the scalar Preisach model of hysteresis, which emphasizes its phenomenological nature and mathematical generality, is described. The theorem, which gives the necessary and sufficient conditions for the representation of actual hysteresis nonlinearities by the scalar Preisach model, is reported. The significance of this theorem is that it establishes the limits of applicability of Preisach's model regardless of the physical nature of hysteresis. Then, the vector Preisach models are formulated and some basic properties of these models are briefly summarized. Numerical implementations of Preisach's models are discussed and some computational results are given.
2,288 citations
01 Jul 1995-Precision Engineering-journal of The International Societies for Precision Engineering and Nanotechnology
TL;DR: In this article, the adaptation of the Preisach model was used to predict the response of a piezoceramic actuator to a sinusoidal input and a triangular input.
Abstract: A major deficiency of piezoceramic actuators is that their open-loop control accuracy is seriously limited by hysteresis. This paper discusses the adaptation of the Preisach model to describe the nonlinear hysteresis behavior of these actuators. The adapted model is used to predict the response of a piezoceramic actuator to a sinusoidal input and a triangular input. The predictions are compared with experimental measurements on a stacked piezoceramic actuator. The model reproduces the hysteresis loop of the actuator to within 3% over the entire working range of 0–15 μm. This opens the possibility of incorporating the model into a control loop in order to overcome the accuracy problem.
460 citations
TL;DR: In this article, the linearity of a piezoelectric ceramic actuator may be improved if the applied electric charge, rather than the applied voltage, is varied to control the extension.
Abstract: It is shown that the linearity of a piezoelectric ceramic actuator may be greatly improved if the applied electric charge, rather than the applied voltage, is varied to control the extension. Hysteresis is virtually eliminated.
361 citations
TL;DR: The theorem, which gives the necessary and sufficient conditions for the representation of actual hysteresis nonlinearities by the scalar Preisach model, is reported.
Abstract: A new approach to Preisach's hysteresis model, which emphasizes its phenomenological nature and mathematical generality, is briefly described. Then the theorem which gives the necessary and sufficient conditions for the representation of actual hysteresis nonlinearities by Preisach's model is proven. The significance of this theorem is that it establishes the limits of applicability of this model.
360 citations