Self-Sensing with loaded piezoelectric Bending actuators

•The presented self-sensing approach enables the identification of all state values of randomly loaded bending actuators.•The presented self-sensing approach is valid in a wide-band frequency range.•The manuscript is characterized by a detailed concept description, a high practical benefits and significant measurement/validation results.

A new concept of a self-sensing bending actuator is introduced. This self-sensing approach enables to control the deflection of a loaded piezoelectric cantilever operated in a wide frequency band. Furthermore, the tip force, moment and angular velocity can also be estimated. Thereby, the determination of the applied load impedances becomes possible. The novel concept is based on the segmentation of actuator electrodes. This provides additional information about the charge distribution in the piezoelectric material and hence the operational mode shape of the loaded actuator can be determined. To obtain the desired state variables, at least two segments are required.