Frequency domain approach for dynamics identification of the actuator with asymmetric hysteresis

Zhiyong Sun, Yu Cheng, Ning Xi, Sheng Bi, Congjian Li, Bo Song, Ruiguo Yang, Lina Hao, Liangliang Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Micro/nano-manipulation systems have been developed and utilized for decades due to their irreplaceable roles in fields such as MEMS/NEMS fabrication and biological studies. Generally, the motion precision of a micro/nanomanipulator highly depends on its actuator, whose performance can be enhanced by proper control strategies. To design satisfactory controllers, an accurate plant model is ideal. For micro/nano-manipulators, the implemented actuators are mostly Smart Materials (SMs), which exhibit strong hysteretic and dynamic coupling characteristics. The construction of linear dynamics preceded by hysteresis is a prevalent representation for describing SM actuators' behaviors. To effectively and accurately model SM actuators, this paper employs the Extended Unparallel Prandtl-Ishlinskii (EUPI) model to describe complicated hysteretic behaviors. For modeling dynamics of SM actuators, firstly, the EUPI inverse is implemented to compensate the hysteretic effect of the plant; subsequently, the Weighted Complex Least-Squares (WCLS) identification method is proposed to estimate parameters of the dynamic part in the form of complex number function. To guarantee stability of the identified model, the Particle Swarm Optimization based WCLS (PSO-WCLS) optimization approach is proposed. The advantage of the proposed modeling scheme is that, it is capable of accurately describing complicated hysteresis of SM actuators and does not require the drive signal to be small while modeling its dynamics; besides this scheme contains frequency domain identification merits, such as easy noise reduction and easy combination of data from different experiments. The modeling and identification scheme is verified through comparison tests conducted on a piezoelectric actuator platform.

Original languageEnglish (US)
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages364-369
Number of pages6
ISBN (Electronic)9781509059980
DOIs
StatePublished - Aug 21 2017
Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duration: Jul 3 2017Jul 7 2017

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
CountryGermany
CityMunich
Period7/3/177/7/17

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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    Sun, Z., Cheng, Y., Xi, N., Bi, S., Li, C., Song, B., Yang, R., Hao, L., & Chen, L. (2017). Frequency domain approach for dynamics identification of the actuator with asymmetric hysteresis. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 364-369). [8014044] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014044