Hysteresis Modeling of Amplified Piezoelectric Stack Actuator for the Control of the Microgripper

Authors

  • Royson D. D’Souza School of Engineering and IT, Manipal University, Dubai Campus, UAE
  • Bineesh Benny Department of Mechanical Engineering, National Institute of Technology Karnataka (NITK), India
  • Anil Sequeira School of Engineering and IT, Manipal University, Dubai Campus, UAE
  • Navin Karanth P Department of Mechanical Engineering, National Institute of Technology Karnataka (NITK), India

Keywords:

Hysteresis modeling, amplified piezoelectric actuator (APA), Bouc-Wen model, tracking control.

Abstract

This paper presents Bouc-Wen hysteresis modelling and tracking control of piezoelectric stack APA120S. The actuator is used to control a microgripper. A modified Bouc-Wen non-symmetric model is applied to study the behaviour of the system in static and dynamic state. The good agreement between predicted and measured curve showed that the Bouc-Wen model is an effective mean for modelling the hysteresis of piezoelectric actuator system. Subsequently, the inverse Bouc-Wen model is formulated and applied to cancel the non-linear hysteresis. In perspective of a control design, it is desirable to linearize the non-linear Bouc-Wen model to produce a static system. Finally, in order to increase damping of the actuator system and to improve the control accuracy, a cascaded PID controller is designed with consideration of the dynamics and static behaviour of the actuator. Experiment result shows that error is of only 5% if PID is cascaded with hysteresis compensation. Therefore, hysteresis compensation with PID controller greatly improves the micromanipulation accuracy of the microgripper actuated by piezoelectric stack.

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Published

2016-01-23

How to Cite

D. D’Souza, R., Benny, B., Sequeira, A., & Karanth P, N. (2016). Hysteresis Modeling of Amplified Piezoelectric Stack Actuator for the Control of the Microgripper. American Scientific Research Journal for Engineering, Technology, and Sciences, 15(1), 265–281. Retrieved from https://asrjetsjournal.org/index.php/American_Scientific_Journal/article/view/1222