Modeling and analysis of hysteresis in piezoceramic actuators excited by dynamic driving frequency

Piezoceramic actuators are characterized by fast response, and have been widely used in precision driving systems. However, the hysteresis nonlinearity of the piezoceramic actuator affects the positioning accuracy of the system. In order to improve control quality, an exact model is needed. The accuracy of the classical Preisach model, which predicts the voltage-to-displacement value, deteriorates in real time control when the frequency of the driving voltage varies. In this paper, a generalized Preisach method with a series of additional C points is presented, and an improved hysteresis model is presented, considering the effects of the voltage signal frequency. The selection of C points is elaborated as knee points on curve of control voltage, so as for the predicted voltage-to-displacement value to approach to the change of the slope of input voltage signal curve. Finally, the recursive formula of the improved hysteresis model is given. The presented model can be used in dynamic modeling and analysis for the ultra precision mechanisms where piezoceramic actuators are used, as well as in design of feed-forward compensation controller of piezoceramic actuators.