Improved Bouc-Wen model of piezoelectric actuator and its positioning compensation control study

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Journal of Vibration and Shock ›› 2023, Vol. 42 ›› Issue (10) : 155-164.

ZHOU Minrui1,ZHOU Zhenhua1,2,LIU Xin1,2,CAO Taishan1,2,LI Zhanhui1,2

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Abstract

To address the asymmetric and frequency-dependent hysteresis nonlinearity of piezoelectric actuator (PEA) that can not be described by most hysteresis models, an improved Bouc-Wen (IBW) model is proposed and its compensation control is experimentally investigated based on the proposed IBW model. Firstly, based on the classical Bouc-Wen (CBW) hysteresis model, two asymmetric terms and a second-order IIR filter are introduced to accurately describe the hysteresis nonlinearity of the PEA, and the model parameters are further analyzed for the frequency variation law and the parameters are corrected to frequency-dependent. Then, based on NI CompactRIO measurement and control system, piezoelectric actuator precision positioning experimental platform is set up, and the proposed IBW model is experimentally verified and its compensation control is further experimentally studied based on the IBW model. The experimental results show that the IBW model performs significantly better than the CBW model and the enhanced Bouc-Wen (EBW) model. Compared with the CBW model and EBW model, the root mean square error of the IBW model decreases by 82.07% and 62.10% for multi-frequency sinusoidal signals with excitation frequencies of 10-100Hz, respectively. The maximum output displacement measured in the experiment is 6.15μm, and the root mean square error of the proposed composite compensation control based on the IBW model is 0.039μm, which is only 0.64% of the maximum output displacement. The maximum tracking error is only 0.153μm, and the positioning error is close to zero if the measurement noise is ignored. It is shown that the proposed IBW model and its compensation control algorithm can help realize high-speed, wide-frequency ultra-precision positioning and active vibration control of PEA.

Key words

piezoelectric actuator / dynamic asymmetric hysteresis / improved Bouc-Wen model / hysteresis compensation control.

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ZHOU Minrui1,ZHOU Zhenhua1,2,LIU Xin1,2,CAO Taishan1,2,LI Zhanhui1,2. Improved Bouc-Wen model of piezoelectric actuator and its positioning compensation control study[J]. Journal of Vibration and Shock, 2023, 42(10): 155-164

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