Control of Hysteresis in Smart Actuators. Part 1. Modeling, Parameter Identification, and Inverse Control
MARYLAND UNIV COLLEGE PARK INST FOR SYSTEMS RESEARCH
Pagination or Media Count:
Hysteresis in smart actuators presents a challenge in control of these actuators. A fundamental idea to cope with hysteresis is inverse compensation. In this paper we study modeling, identification and inverse control of hysteresis in smart actuators through the example of controlling a commercially available magnetostrictive actuator. The rate-independent Preisach operator has been used extensively to model the hysteresis in smart actuators. We present efficient inversion algorithms for the Preisach operator that are implementable in real-time. The magnetostrictive hysteresis is rate-dependent at high frequencies. For this we propose a novel dynamic hysteresis model by coupling a Preisach operator to an ordinary differential equation. This model can capture the dynamic and hysteretic behavior of the magnetostrictive actuator, and it provides insight into modeling of rate-dependent hysteresis in other smart materials. The effectiveness of the identification and inverse control schemes is demonstrated through extensive experimental results.
- Electricity and Magnetism