What is it about?
This paper compares tracking performances of the inverse hysteresis model-based feedforward compensator and the feedback-feedforward combined controller for the time-varying hysteresis nonlinearity of a piezoelectric-stack-actuator-driven (PSA-driven) system.
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Why is it important?
Three different inverse hysteresis models, including Bouc-Wen, polynomial, and Prandtl-Ishlinskii (PI), are adopted to design feedforward compensator for the PSA-driven compliant system. Particle swarm optimization (PSO) scheme is employed to estimate model parameters of the Bouc-Wen and PI hysteresis models, respectively, whereas the least-mean-square-error based criterion is utilized in identifying the polynomial-based hysteresis model. Although solely feedforward compensation approach seems workable for systems with rate-independent hysteresis or slow tracking trajectories, large modeling errors are inevitable when fast trajectory or rate-dependent hysteresis is facing. To improve tracking performances, conventional PID control is augmented to the feedforward controllers. The resultant scheme is denoted as the feedback-feedforward combined control.
Perspectives
The results indicate that significant performance improvement can be achieved provided PID control is augmented to the solely feedforward approach. When different hysteresis models are of concerned, PI hysteresis model performs better in either feedforward or combined cases. For future research, the implementation of on-line parameter identification can be considered so that the proposed method can be applied to real-time control the PSA-driven systems.
Hung-Yi Chen
Read the Original
This page is a summary of: Hysteresis compensation of a piezoelectric-stack-actuator-driven (PSA-driven) system using inversion-based models and feedback control, Journal of Intelligent & Fuzzy Systems, October 2018, IOS Press,
DOI: 10.3233/jifs-171699.
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