On Implementation of the Preisach Model: Identification and Inversion for Hysteresis Compensation

Stakvik, Jon Åge; Ragazzon, Michael R. P.; Eielsen, Arnfinn A.; Gravdahl, Jan Tommy

doi:10.4173/mic.2015.3.1

Cited by 34 publications

(23 citation statements)

References 27 publications

(48 reference statements)

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“…The contribution of the HE to the MSE is suppressed thanks to the PO modeling and compensation via the CMA. Further reduction of the MSE is possible if a continuous implementation of the CMA is performed, just as Stakvik demonstrated in [20]. This statement can be illustrated from the zoom-in plot at the top of Fig.…”

Section: Experimental Results and Analysismentioning

confidence: 78%

“…The Preisach Operator (PO) is a common approach to model hysteresis; it has been successfully employed in nanopositioning applications with piezoelectric and magnetostrictive actuators [17,20]. An in-depth explanation of the PO theory has not been provided here, but readers may refer to Tan [21] and Visone [17] for such a purpose.…”

Section: Modeling Hysteresis Through the Preisach Operatormentioning

confidence: 99%

“…The output of the CMA is discrete (F), just as the PO model is. However, a continuous implementation of the CMA has been already developed in [20], but for space constraints, it has not been discussed or implemented here.…”

Section: Compensating Hysteresis In Fsrs Through the Inversion Of Thementioning

confidence: 99%

“…Stakvik presented in [20] a guideline for creating an adequate input signal intended for hysteresis characterization; the signal consists of incrementalamplitude sine waveforms as shown on Fig. 6f.…”

Section: Modeling Hysteresis Through the Preisach Operatormentioning

confidence: 99%

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Experimental characterization, modeling and compensation of hysteresis in force sensing resistors

Paredes-Madrid

Matute

Cruz-Pacheco

et al. 2018

DYNA

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Force Sensing Resistors (FSRs) exhibit considerable amounts of hysteresis and repeatability error inhibiting their usage in applications that require high-accurate force readings. This paper presents the hysteresis characterization and modeling of the Tekscan A201-1 FSR employing the Preisach Operator (PO) function. In order to compensate for hysteresis during sensor operation, the inverse PO was numerically found on the basis of the Closest Match Algorithm (CMA). A test bench, capable of handling sixteen sensors simultaneously, was built, which allowed the characterization and later testing of the CMA. Grip force profiles were applied to the sensors during testing and the experimental results showed a considerable reduction in the force estimation error compared with the linear regression method proposed by the manufacturer. These results enable a wider use of FSRs in applications with tight accuracy requirements. Finally, a generalized sensor model for hysteresis compensation that simplifies the obtaining of PO parameters is presented.Keywords: hysteresis; force sensing resistors; Preisach operator; closest match algorithm.Caracterización experimental, modelado y compensación de la histéresis en sensores de fuerza resistivos Resumen Los Sensores de Fuerza Resistivos (FSRs) despliegan cantidades considerables de histéresis y de error de repetitividad que inhiben su uso en aplicaciones que requieren lecturas de fuerza de alta precisión. En este trabajo se presenta la caracterización y modelado de histéresis del sensor de presión Tekscan A201-1 empleando la función Operador de Preisach (OP). Con el fin de compensar la histéresis durante el funcionamiento del sensor, el OP inverso se halló numéricamente sobre la base del algoritmo de coincidencia más cercana (CMA). Se construyó un banco de pruebas, capaz de manejar dieciséis sensores simultáneamente, lo que permitió la caracterización y posterior prueba del CMA. Los perfiles de fuerza de agarre se aplicaron a los sensores durante la prueba y los resultados experimentales mostraron una reducción considerable del error de estimación de la fuerza en comparación con el método de regresión lineal propuesto por el fabricante. Estos resultados abren el camino para un uso más amplio de los FSRs en aplicaciones con exigentes requisitos de precisión. Finalmente, un modelo de sensor generalizado para compensación de histéresis que simplifica la obtención de los parámetros PO, es presentado.Palabras clave: sensores de fuerza resistivos; operador de Preisach; algoritmo de coincidencia más cercana.

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Section: Experimental Results and Analysismentioning

confidence: 78%

Section: Modeling Hysteresis Through the Preisach Operatormentioning

confidence: 99%

Section: Compensating Hysteresis In Fsrs Through the Inversion Of Thementioning

confidence: 99%

Section: Modeling Hysteresis Through the Preisach Operatormentioning

confidence: 99%

See 2 more Smart Citations

Experimental characterization, modeling and compensation of hysteresis in force sensing resistors

Paredes-Madrid

Matute

Cruz-Pacheco

et al. 2018

DYNA

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“…The Bouce-van model is a nonlinear differential equation that is used to model different structures. This model is particularly well considered for its high analytical capability, especially for modeling piezoelectric components and cantilever beam [26].…”

Section: Piezoelectric MC Mass and Stiffness Matrixmentioning

confidence: 99%

Analysis of hysteresis effect on the vibration behavior of AFM intelligent MC in the vicinity of sample surface by considering the size effect in air and liquid

Korayem

Taghizadeh

Emadi

2018

Eur. Phys. J. Appl. Phys.

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Nowadays, scientists consider AFM as a powerful Nanorobot for the measurement of inter-molecular forces as well as identification and topography of sample surfaces. In order to enhance the performance of this Nanorobot, the modified couple stress (MCS) theory in the air and the liquid environment has used to reduce the error resulting from the modeling of AFM microcantilever (MC) based on classic continuum mechanic theory. In this paper, using the Hamiltonian principle and based on the Euler Bernoulli beam theory, motion equations are extracted taking into account the capillary, van der Waals and contact forces between the tip and the sample, as well as the hydrodynamic and the squeeze force in the liquid environment. Modeling is carried out for two dagger and rectangular geometries considering the geometric discontinuities due to the presence of a piezoelectric layer enclosed between the two sides of the electrode and the change in the cross-section of the MC when connecting the probe to the MC. Galerkin method is employed for the discretization of equations. In order to analyze the effects of geometry and environment on the MC vibration behavior, the time and frequency response are obtained at distances away from the surface for both MC geometries in the air and liquid environment. Comparison results suggest that the natural frequency is reduced due to the added mass of the dagger MC. This reduction is more tangible in the liquid environment because of the added mass. Also, the effect of the hysteresis phenomenon caused by the ferromagnetic property of materials is analyzed in order to approximate the theoretical model to the real model using the PI, Bouce-van and Duhem models. Surface topography is illustrated considering the hysteresis effect on rectangular and dagger MC. According to the results, the amplitude is amplified by using the three models. This amplification is higher in the PI model.

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Fluid‐Driven High‐Performance Bionic Artificial Muscle with Adjustable Muscle Architecture

Xie

Li³

et al. 2023

Advanced Intelligent Systems

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High-performance artificial muscle is always the pursuit of researchers for robotics. Herein, a bionic artificial muscle is reported called "ExoMuscle" mimicking the sarcomere in skeletal muscle with a bio-inspired structure to contract "myofilaments" enabling the artificial muscle to mimic the architecture of muscle such as parallel, fusiform, convergent, and pennation and beyond the performance of skeletal muscle. The reported actuators excel in various aspects compared with skeletal muscle including actuation stress (0.41-0.9 MPa), strain (50%), optimal length, velocity-independence output, power density (10.94 kW kg À1 ), and efficiency (69.11%). With its own adjustable pennation architecture, it achieves variable actuation stress up to 0.9 MPa meanwhile maintaining high efficiency. Furthermore, ExoMuscle highly conforms to the anatomical complexity of the human body to cooperate with skeletal muscles closely opening the door for bio-robotics, especially wearable robots.

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On Implementation of the Preisach Model: Identification and Inversion for Hysteresis Compensation

Cited by 34 publications

References 27 publications

Experimental characterization, modeling and compensation of hysteresis in force sensing resistors

Experimental characterization, modeling and compensation of hysteresis in force sensing resistors

Analysis of hysteresis effect on the vibration behavior of AFM intelligent MC in the vicinity of sample surface by considering the size effect in air and liquid

Fluid‐Driven High‐Performance Bionic Artificial Muscle with Adjustable Muscle Architecture

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