Modeling and Compensation of a Bimorph Type Piezoelectric Actuator Exhibiting Odd-Harmonic Oscillation and Frequency-Dependent, Interleaved Hysteresis

Abstract

This paper proposes an improved version of the play model for capturing the frequency-dependent hysteresis of a bimorph piezoelectric actuator that includes odd harmonic oscillation and interleaved hysteresis. The proposed model used a single mathematical structure to capture the changes in the actuator response observed with the increase in the input signal frequency. The refinements on the structure of the original play model for capturing the peculiar behavior of the bimorph piezoelectric actuator have been addressed in detail. The parameter identification has been conducted extensively for a range of 1 Hz to 110 Hz, which exceeds the resonance frequency specified by the manufacturer of the actuator. Improved modeling accuracy was confirmed as compared with our previous enhanced Bouc–Wen model based on the calculation of the fitness index. We also attempted to synthesize a hysteresis compensator based on direct inverse multiplication; the results of the experimental validation of the proposed control system are disclosed.