Dynamic hysteresis modeling and feedforward compensation of MFC actuatedresonant underwater flexible structures

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Journal of Vibration and Shock ›› 2023, Vol. 42 ›› Issue (1) : 115-122.

WANG Zekai1,3, LOU Junqiang1, 2, CHEN Tehuan1, DENG Yimin1, CUI Yuguo1, WEI Yanding2

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Abstract

Macro Fiber Composite (MFC) actuated underwater flexible structure with the advantages of motion flexibility and operation convenience, is widely used in underwater bionic propulsion and deformation control systems, nevertheless, the positioning accuracy and control performance are seriously affected by the nonlinear hysteresis of MFC material. In this paper, a compound model containing modified Prandtl-Ishlinskii (MPI) static model and transfer function dynamic model in series is proposed to describe the dynamic hysteresis phenomenon of MFC actuated underwater flexible structure in resonant state. Firstly, the parameters of the MPI model are obtained based on the quasi-static hysteresis characteristics of the proposed underwater flexible structure, and then the underwater resonant characteristics are captured by the dynamic model of the transfer function added feed-through term. The experimental results show that the dynamic hysteresis behavior of MFC actuated resonant underwater flexible structure can be matched relatively well by the proposed compound dynamic hysteresis model and keep high accuracy in a certain bandwidth range near the natural frequency. Based on feedforward compensation of the inverse compound model, the measured displacement of underwater flexible structure in resonant state is essentially coincident with the desired displacement of that in sine trajectory tracking achieving a high compensated linearity and significantly improves the dynamic positioning and tracking accuracy. Accordingly, the effectiveness of the proposed dynamic hysteresis model and compensation method is verified.

Key words

Underwater flexible structure / Resonant / Dynamic hysteresis / Macro fiber composite (MFC) / Feedforward compensation

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WANG Zekai1,3, LOU Junqiang1, 2, CHEN Tehuan1, DENG Yimin1, CUI Yuguo1, WEI Yanding2. Dynamic hysteresis modeling and feedforward compensation of MFC actuatedresonant underwater flexible structures[J]. Journal of Vibration and Shock, 2023, 42(1): 115-122

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