A new approximate model, which consists of a variable gain and a variable time-delay, is proposed to describe the hysteresis behavior of a piezoactuator. The variable gain is assumed to be a function of the magnitude of the input command, while the time-delay is assumed to be a function of the frequency of the input command. The ranges of these two variable parameters are determined through open loop tests. According to the proposed approximate model, a Smith predictor-based robust controller is developed to achieve high-precision tracking control of a piezoactuator. Analytical simulation and experimental results on tracking several types of reference inputs demonstrate that the maximum tracking error can be reduced to be less than 2% of the traveling path by utilizing the proposed controller design.
Robust Tracking Control of a Piezoactuator Using a New Approximate Hysteresis Model
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, November 2001; final revision, August 2002. Associate Editor: J. Tu.
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Tsai, M., and Chen, J. (March 10, 2003). "Robust Tracking Control of a Piezoactuator Using a New Approximate Hysteresis Model ." ASME. J. Dyn. Sys., Meas., Control. March 2003; 125(1): 96–102. https://doi.org/10.1115/1.1540114
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