Modeling and Identification of Asymmetric Hysteresis in Smart Actuators: a Modified Maxwell-slip Model Approach

Liu, Yanfang; Shan, Jinjun; Meng, Yao; Zhu, Daqi

doi:10.1109/tmech.2015.2500905

Cited by 22 publications

(11 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The advantages of the multistate friction model in terms of optimality of the identification performance and reduced number of parameters can be appreciated also in comparison with the related works (see [16,17,28]). Furthermore, the proposed model can be implemented in a feedforward control compensation scheme without the implementation issues of other models.…”

Section: Identification Results and Discussionmentioning

confidence: 91%

“…Values of the cost function vs. iteration number of the identification of the (a) eleven-parameter model and (b) eighteen-parameter model over the rising phase of motion. In [28], a modified Maxwell-slip (MMS) model is developed for identifying the asymmetric hysteresis of a class of piezo-actuators. The MMS model involves the typical switching structure of the Maxwell-slip form that makes the online parameter identification difficult, as pointed out in [29].…”

Section: Identification Results and Discussionmentioning

confidence: 99%

“…The MMS model involves the typical switching structure of the Maxwell-slip form that makes the online parameter identification difficult, as pointed out in [29]. A total of 42 parameters are involved in the general MMS friction model in [28], whereas 40 parameters characterize the Prandt-Ishlinskii model of a PAM in [17]. The approach of Bouc-Wen modelling in [16] allows for reducing the number of parameters, but it requires the online computation of the internal state variable of the model.…”

Section: Identification Results and Discussionmentioning

confidence: 99%

See 2 more Smart Citations

A Multistate Friction Model for the Compensation of the Asymmetric Hysteresis in the Mechanical Response of Pneumatic Artificial Muscles

et al. 2019

View full text Add to dashboard Cite

These days, biomimetic and compliant actuators have been made available to the main applications of rehabilitation and assistive robotics. In this context, the interaction control of soft robots, mechatronic surgical instruments and robotic prostheses can be improved through the adoption of pneumatic artificial muscles (PAMs), a class of compliant actuators that exhibit some similarities with the structure and function of biological muscles. Together with the advantage of implementing adaptive compliance control laws, the nonlinear and hysteretic force/length characteristics of PAMs pose some challenges in the design and implementation of tracking control strategies. This paper presents a parsimonious and accurate model of the asymmetric hysteresis observed in the force response of PAMs. The model has been validated through the experimental identification of the mechanical response of a small-sized PAM where the asymmetric effects of hysteresis are more evident. Both the experimental results and a comparison with other dynamic friction models show that the proposed model could be useful to implement efficient compensation strategies for the tracking control of soft robots.

show abstract

Section: Identification Results and Discussionmentioning

confidence: 91%

Section: Identification Results and Discussionmentioning

confidence: 99%

Section: Identification Results and Discussionmentioning

confidence: 99%

See 1 more Smart Citation

A Multistate Friction Model for the Compensation of the Asymmetric Hysteresis in the Mechanical Response of Pneumatic Artificial Muscles

et al. 2019

View full text Add to dashboard Cite

show abstract

“…These models belong to the class of operators with a Preisach memory and are essentially a mathematical description of observed hysteresis. The saturated capacitor hysteresis (SCH) model [21]- [24] is another popular hysteresis model. The SCH model has physical significance in both the mechanical and electrical domains.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Identification of Temperature-Dependent Hysteresis in Piezoelectric Materials Considering Parameter Sensitivity

Liu

2020

IEEE Access

Self Cite

View full text Add to dashboard Cite

Hysteresis is an important nonlinearity effect in piezoelectric materials and is sensitive to temperature. This paper extends the saturated capacitor model to capture temperature-dependent hysteresis by replacing the constant parameters with functions of temperature. To obtain these functions, several sets of constant parameters are identified at different temperatures, and then each term of the parameters is fitted as a function with respect to temperature. In the curve fitting process, the parameter sensitivity is employed as a weight factor. The effectiveness of the proposed modeling and parameter determination procedure is verified with experimental data. The overall normalized root mean square error is approximately 5%, including 3% error caused by the identified parameters. INDEX TERMS Temperature-dependent hysteresis, modeling and identification, piezoelectric materials, saturated capacitor hysteresis model.

show abstract

“…Unlike physicsbased hysteresis models [16] that are derived based on specific physical properties, phenomenological hysteresis models are constructed based on input and output data, and are more extensively utilized in practical applications. Examples of reported phenomenological hysteresis models include Preisach model [9], [15], [17], Prandtl-Ishlinskii model [18]- [22], Maxwell model [23], Bowc-Wen model [24], and Duhem model [25]. The Preisach model and the generalized PrandtlIshlinskii model (GPI) [8], [18], [26] are among the most popular hysteresis models.…”

Section: Introductionmentioning

confidence: 99%

A Composite Hysteresis Model in Self-Sensing Feedback Control of Fully Integrated <inline-formula> <tex-math notation="LaTeX">$\mathrm{VO_2}$</tex-math> </inline-formula> Microactuators

Zhang

Torres

Ebel

et al. 2016

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

In this paper a composite hysteresis model is proposed for self-sensing feedback control of vanadium dioxide (VO2)-integrated microactuators. The deflection of the microactuator is estimated with the resistance measurement through the proposed model. To capture the complicated hysteresis between the resistance and the deflection, we exploit the physical understanding that both the resistance and the deflection are determined by hysteretic relationships with the temperature. Since direct temperature measurement is not available, the concept of temperature surrogate, representing the constant current value in Joule heating that would result in a given temperature at the steady state, is explored in the modeling. In particular, the hysteresis between the deflection and the temperature surrogate and the hysteresis between the resistance and the temperature surrogate are captured with a generalized Prandtl-Ishlinskii (GPI) model and an extended generalized Prandtl-Ishlinskii (EGPI) model, respectively. The composite self-sensing model is obtained by cascading the EGPI model with the inverse GPI model. For comparison purposes, two algorithms, based on a Preisach model and an EGPI model, respectively, are also used to estimate the deflection based on the resistance measurement directly. The proposed self-sensing scheme is evaluated with proportional-integral (PI) control of the microactuator under step and sinusoidal references, and its superiority over the other schemes is demonstrated by experimental results.

show abstract

Modeling and Identification of Asymmetric Hysteresis in Smart Actuators: a Modified Maxwell-slip Model Approach

Cited by 22 publications

References 21 publications

A Multistate Friction Model for the Compensation of the Asymmetric Hysteresis in the Mechanical Response of Pneumatic Artificial Muscles

A Multistate Friction Model for the Compensation of the Asymmetric Hysteresis in the Mechanical Response of Pneumatic Artificial Muscles

Modeling and Identification of Temperature-Dependent Hysteresis in Piezoelectric Materials Considering Parameter Sensitivity

A Composite Hysteresis Model in Self-Sensing Feedback Control of Fully Integrated <inline-formula> <tex-math notation="LaTeX">$\mathrm{VO_2}$</tex-math> </inline-formula> Microactuators

Contact Info

Product

Resources

About