Position control of shape memory alloy actuator based on the generalized Prandtl–Ishlinskii inverse model

Salarieh, Hassan; Zakerzadeh, Mohammad Reza

doi:10.1016/j.mechatronics.2012.06.003

Cited by 61 publications

(35 citation statements)

References 56 publications

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“…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]. This model is able to reflect complex hysteresis shapes, as demonstrated for shape memory alloys [36,37] and magnetostrictive materials [34]. The advantage of this family of Prandtl-Ishlinskii models is their analytical inversion which enables fast implementation in real time hysteresis compensation systems.…”

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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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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“…Position and force control of SMA actuators are topics that have been widely studied during the last decade. Their nonlinear saturated hysteretic behavior originates steady-state errors and limit cycle problems when conventional controllers are used [4,5].…”

Section: Related Workmentioning

confidence: 99%

Position control of a shape memory alloy actuator using a four-term bilinear PID controller

Villoslada

Escudero

Alonso-Martín

et al. 2015

Sensors and Actuators A: Physical

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This is a postprint version of the following published document: Villoslada, A.; Escudero, N.; Martín, F.; Flores, A.; Rivera, C.; Collado, M.; Moreno, L. (2015). Position control of a shape memory alloy actuator using a four-term bilinear PID controller. Sensors and Actuators AbstractShape memory alloy (SMA) actuators have a number of appealing features, such as their low weight or their high force-to-weight ratio, that make them a potential alternative to traditional actuation tech-nologies in fields such as space applications, surgical devices or wearable robotics. In this paper, a type of bilinear controller consisting of a conventional PID controller cascaded with a bilinear compensator, known as BPID, is proposed. Bilinear controllers are a subset of nonlinear controllers, which is why the BPID may be a promising alternative to control the position of a SMA actuator. Nonlinear control tech-niques are commonly applied to control SMA actuators, because of their nonlinear behavior caused by thermal hysteresis. The BPID controller is simpler and easier to implement than other nonlinear control strategies, which makes it a very appealing candidate to control SMA actuators. The performance of the BPID controller has been compared with other two controllers, a conventional PID and a commuted feed-forward PIPD, controlling a real SMA actuator. To this end, a set of five tests has been defined, in which the controlled actuator must follow a series of position references. From these tests, the position and error of the actuator have been plotted, and a series of metrics has been computed to have quantitative mea-surements of the performance of the three controllers. It is shown that, in most of the experiments, the BPID has a better performance than the other two tested controllers, especially tracking step references. However, the power consumption is slightly higher when the actuator is controlled with this strategy, although the difference is minimal. Also, the BPID imposes greater energy variations to the SMA actuator, which might affect its service life. Overall, the BPID controller has proved to be a viable alternative to control SMA actuators.

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“…히 스테리시스를 모델링하기 위한 수학적인 모델로서는 Bouc-Wen model, Dahl model, Preisach model, 그리고 Prandtl-Ishlinskii model 등 다양한 기법들이 제안되었다 [6]. 그 중 Preisach model은 가장 널리 사용되는 수학적 그림 GPI model의 일반적인 기본 연산자를 나타낸다 [9].…”

Section: 서 론unclassified

Inverse Hysteresis Modeling for Piezoelectric Stack Actuators with Inverse Generalized Prandtl-Ishlinskii Model

Ko¹,

Kim²

2014

Journal of Korean Institute of Intelligent Systems

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Position control of shape memory alloy actuator based on the generalized Prandtl–Ishlinskii inverse model

Cited by 61 publications

References 56 publications

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

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

Position control of a shape memory alloy actuator using a four-term bilinear PID controller

Inverse Hysteresis Modeling for Piezoelectric Stack Actuators with Inverse Generalized Prandtl-Ishlinskii Model

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