Wang Wen, Han Fuming, Chen Zhanfeng, Wang Ruijin, Wang Chuanyong, Lu Keqing, Wang Jiahui, Ju Bingfeng
School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China.
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China.
Micromachines (Basel). 2021 Jan 16;12(1):92. doi: 10.3390/mi12010092.
Piezoelectric actuators are widely used in micro- and nano-manufacturing and precision machining due to their superior performance. However, there are complex hysteresis nonlinear phenomena in piezoelectric actuators. In particular, the inherent hysteresis can be affected by the input frequency, and it sometimes exhibits asymmetrical characteristic. The existing dynamic hysteresis model is inaccurate in describing hysteresis of piezoelectric actuators at high frequency. In this paper, a Dynamic Delay Prandtl-Ishlinskii (DDPI) model is proposed to describe the asymmetrical and dynamic characteristics of piezoelectric actuators. First, the shape of the Delay Play operator is discussed under two delay coefficients. Then, the accuracy of the DDPI model is verified by experiments. Next, to compensate the asymmetrical and dynamic hysteresis, the compensator is designed based on the Inverse Dynamic Delay Prandtl-Ishlinskii (IDDPI) model. The effectiveness of the inverse compensator was verified by experiments. The results show that the DDPI model can accurately describe the asymmetrical and dynamic hysteresis, and the compensator can effectively suppress the hysteresis of the piezoelectric actuator. This research will be beneficial to extend the application of piezoelectric actuators.
压电致动器因其卓越的性能而广泛应用于微纳制造和精密加工领域。然而，压电致动器中存在复杂的滞后非线性现象。特别是，固有滞后会受到输入频率的影响，并且有时会表现出不对称特性。现有的动态滞后模型在描述压电致动器高频下的滞后情况时并不准确。本文提出了一种动态延迟普朗特 - 伊什林斯基（DDPI）模型来描述压电致动器的不对称和动态特性。首先，讨论了两种延迟系数下延迟间隙算子的形状。然后，通过实验验证了DDPI模型的准确性。接下来，为了补偿不对称和动态滞后，基于逆动态延迟普朗特 - 伊什林斯基（IDDPI）模型设计了补偿器。通过实验验证了逆补偿器的有效性。结果表明，DDPI模型能够准确描述不对称和动态滞后，补偿器能够有效抑制压电致动器的滞后。该研究将有助于拓展压电致动器的应用。
