Adaptive Control of Positioning Systems With Hysteresis Based on Magnetic Shape Memory Alloys

The need for mechatronic devices that are lightweight, less cumbersome and able to produce small, quick and precise movements or forces is ever increasing in many fields of engineering. Many recent design solutions are based on electrically, magnetically or thermally activated materials, often referred to as smart materials. This tutorial paper overviews the main properties and the resulting applications of two recently discovered smart materials, magnetic shape memory alloys (MSMAs) and electroactive polymers (EAPs), which have complementary characteristics and seem suitable to overcome some of the inherent limitations of other materials widely used in industrial applications, such as piezoelectric ceramics. As many other smart materials, MSMAs and EAPs exhibit nonlinear, hysteretic and time-varying behaviors, and therefore this tutorial discusses the main ways to model and effectively compensate these critical issues with advanced control strategies.

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“…The black curve of Fig. 7 reproduces the hysteretic static currentdisplacement characteristic of the actuator at room temperature 0 T [19]. Fig.…”

Section: A Modeling and Control Of Msma Actuatorsmentioning

confidence: 77%

“…The topic of hysteresis compensation has been deeply investigated in control literature (see [19], [22] for short overviews of related works), and many approaches are possible, although few of them are really suitable for the extremely varying behavior shown in Fig. 7.…”

Section: A Modeling and Control Of Msma Actuatorsmentioning

confidence: 99%

Modeling and control of innovative smart materials and actuators: A tutorial

Riccardi

Rizzello

Naso

et al. 2014

2014 IEEE Conference on Control Applications (CCA)

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“…The positioning error of the piezoelectric actuator is reduced to less than 0.15 μm . Riccardi L. [9] developed a closed loop control law based on a modified Prandtl-Ishlinskii inverse model to decrease the error and verified the availability of this proposed hybrid control method by the experiments on a micrometric positioning system based on the MSMA actuator. Zong X.…”

Section: Introductionmentioning

confidence: 90%

Hybrid Control Method of Magnetically Controlled Shape Memory Alloy Actuator Based on Inverse Prandtl-Ishlinskii Model

Zhou¹,

Xu²,

Zhang³

et al. 2016

Journal of Electrical Engineering and Technology

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-The hysteresis nonlinearity of magnetically controlled shape memory alloy actuator is an obstacle in the achievement of high positioning accuracy. To eliminate the influence of hysteresis nonlinearity, a PID hybrid control method which uses the inverse Prandtl-Ishlinskii model as a feedforward controller is proposed in this paper. The PID parameters are searched by particle swarm optimization with cross and heredity function. The simulation results show that when the influence of external disturbance is not considered, the positioning accuracy of open loop control method is 0.67%, and the positioning accuracy of PID hybrid control based on particle swarm optimization is 0.38%; when the influence of external disturbance is considered, the positioning accuracy of open loop control method is 3.29%, and the positioning accuracy of PID hybrid control based on particle swarm optimization is 1.65%. This indicates that the proposed control method can effectively eliminate the impact of hysteresis nonlinearity and external disturbances on the positioning accuracy.

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“…The first one is a modified Prandtl-Ishlinskii model where weighted superposition of play operators is placed in cascade with a scalar, memory free function represented by a weighted side dead zone operators [30]. This model has been successfully used for modelling saturated hysteresis in magnetic shape memory alloys [31,32]. The second method is a generalised Prandtl-Ishlinskii model, using the generalised play operator [29], and this idea has been developed by Al Janaideh [33][34][35].…”

Section: Generalised Prandtl-ishlinskii Hysteresis Model (Gpim)mentioning

confidence: 99%

Non-linear control of a hydraulic piezo-valve using a generalised Prandtl–Ishlinskii hysteresis model

Stefański

Minorowicz

Persson

et al. 2017

Mechanical Systems and Signal Processing

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a b s t r a c tThe potential to actuate proportional flow control valves using piezoelectric ceramics or other smart materials has been investigated for a number of years. Although performance advantages compared to electromagnetic actuation have been demonstrated, a major obstacle has proven to be ferroelectric hysteresis, which is typically 20% for a piezoelectric actuator. In this paper, a detailed study of valve control methods incorporating hysteresis compensation is made for the first time. Experimental results are obtained from a novel spool valve actuated by a multi-layer piezoelectric ring bender. A generalised PrandtlIshlinskii model, fitted to experimental training data from the prototype valve, is used to model hysteresis empirically. This form of model is analytically invertible and is used to compensate for hysteresis in the prototype valve both open loop, and in several configurations of closed loop real time control system. The closed loop control configurations use PID (Proportional Integral Derivative) control with either the inverse hysteresis model in the forward path or in a command feedforward path. Performance is compared to both open and closed loop control without hysteresis compensation via step and frequency response results. Results show a significant improvement in accuracy and dynamic performance using hysteresis compensation in open loop, but where valve position feedback is available for closed loop control the improvements are smaller, and so conventional PID control may well be sufficient. It is concluded that the ability to combine state-of-the-art multi-layer piezoelectric bending actuators with either sophisticated hysteresis compensation or closed loop control provides a route for the creation of a new generation of high performance piezoelectric valves.

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Adaptive Control of Positioning Systems With Hysteresis Based on Magnetic Shape Memory Alloys

Cited by 43 publications

References 29 publications

Modeling and control of innovative smart materials and actuators: A tutorial

Modeling and control of innovative smart materials and actuators: A tutorial

Hybrid Control Method of Magnetically Controlled Shape Memory Alloy Actuator Based on Inverse Prandtl-Ishlinskii Model

Non-linear control of a hydraulic piezo-valve using a generalised Prandtl–Ishlinskii hysteresis model

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