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A stop operator-based Prandtl-Ishlinskii model for compensation of smart actuator hysteresis effects

Title:

A stop operator-based Prandtl-Ishlinskii model for compensation of smart actuator hysteresis effects

Aljanaideh, Omar (2009) A stop operator-based Prandtl-Ishlinskii model for compensation of smart actuator hysteresis effects. Masters thesis, Concordia University.

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Abstract

The positioning and tracking performance of smart materials actuators is strongly limited due to the presence of hysteresis nonlinearity. The hysteresis of smart actuators, employed in micro-positioning tasks, is known to cause oscillations in the open-loop system's responses, and poor tracking performance and potential instabilities of the close-loop system. Considerable efforts are thus being made continuously to seek effective compensation of hysteresis effects in real-time applications. In this dissertation research, a stop operator-based-Prandtl-Ishlinskii model (SOPI) is proposed as a feedforward compensator for the hysteresis nonlinearities in smart actuators. The complementary properties of the proposed stop operator-based model in relation to the most widely used play operator-based Prandtl-Ishlinskii model are illustrated and applied to realize the desired compensation. It is shown that the stop operator-based model yields hysteresis loops in the clockwise direction, opposite to that of the piezoceramic micro-positioning actuators. It is further proven that the stop operator-based model exhibits concave initial loading behavior, while the play operator-based model, used to characterize the hysteresis behavior, follows a convex initial loading relation between the output and the input. On the basis of these complementary properties, it is hypothesized that a stop operator-based Prandtl-Ishlinskii model may serve as an effective compensator for known hysteresis nonlinearity that is described 'by a play operator-based model. The proposed stop operator-based model is subsequently implemented as a feedforward compensator in conjunction with the play operator-based model describing a known hysteresis nonlinearity. The effectiveness of the proposed compensator is demonstrated through simulation and experimental results attained with a piezoceramic micro-positioning stage. Both the simulation and the experimental results show that the proposed stop operator-based model can serve as an effective feedforward hysteresis compensator. A methodology for identifying the stop operator-based model parameters is proposed using those of a known play operator hysteresis model. Relations between the stop and play operator based-model parameters are also derived in the order to facilitate parameter identification. Furthermore, the relation between the stop operator based Prandtl-Ishlinskii model and the inverse Prandtl-Ishlinskii model, which has been proven effective hysteresis compensator, is demonstrated.

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Mechanical and Industrial Engineering
Item Type:Thesis (Masters)
Authors:Aljanaideh, Omar
Pagination:xi, 90 leaves : ill. ; 29 cm.
Institution:Concordia University
Degree Name:M.A. Sc.
Program:Mechanical and Industrial Engineering
Date:2009
Thesis Supervisor(s):Rakheja, S and Su, C.Y
ID Code:976756
Deposited By: Concordia University Library
Deposited On:22 Jan 2013 16:32
Last Modified:18 Jan 2018 17:43
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