Modeling of rate-dependent hysteresis in piezoelectric actuators using a family of ellipses

In this paper, a new ellipse-like mathematic model is proposed to describe the rate-dependent hysteresis in piezoelectric actuators. Since the expressions of the model are completely analytical and can be determined only by a set of parameters, this method simplifies the modeling of complicated hysteresis behaviors. To represent the hysteresis effects, experiments are performed with designed sinusoidal excitations under different frequencies in the range 0.5–300 Hz. The rate-dependent hysteresis is characterized as increasing maximum hysteresis error (MHE) and decreasing peak-to-peak output amplitude (PPOA) phenomenons with the increase of input frequencies. Then, the parameters of the developed model are extracted from the experimental data using the direct least square method through MATLAB offline. The simulation results well correspond to the measured data and demonstrate that the developed model can precisely predict the rate-dependent hysteresis. We also investigate the parameters’ properties with hysteresis characteristics. In the developed model, the length of the minor radius describes the MHE varying with the input frequencies and amplitudes, while the length of major radius and the orientation of the ellipses represent the decreasing PPOA phenomenon. Finally, a real-time feedforward controller with an inverse model is designed to compensate for the rate-dependent hysteresis under different input frequencies. The experimental results show that the hysteresis effects are obviously reduced at both the lower and higher frequencies.