Compensation of a piezoceramic actuator hysteresis nonlinearities using the stop operator-based Prandtl-Ishlinskii model

In this study, the complementary property of the stop operator-based Prandtl-Ishlinskii model (SPI) in relation to the play operator-based Prandtl-Ishlinskii model (PPI) is explored in order to suppress the hysteresis nonlinearity of a piezoceramic micro-positioning actuator. The SPI compensator is constructed on the basis of the play operator-based Prandtl-Ishlinskii model (PPI) used to characterize the hysteresis of the actuator. The simulation results are obtained to illustrate the complementary properties of the SPI and PPI models in terms of the shape and direction of their hysteresis loops. The implementation of the SPI model as a feedforward compensator in conjunction with the PPI model resulted in effective suppression of the major as well as minor loops hysteresis, particularly when the SPI model was identified on the basis of known hysteresis nonlinearity. Laboratory experiments performed with a piezoceramic micro-positioning stage using hardware-in-the-loop test method together with the proposed SPI model compensator also confirmed effective suppression of the major as well as minor loops hysteresis.