Control schemes employing inverse-based hysteresis compensation are successful in accurate position control of smart material actuators. However, the effectiveness of the inverse hysteresis model in cancelling hysteresis is not addressed in the evaluation of these control schemes. Classical methods rely on closed-loop tracking error analysis which does not allow evaluation of the inverse model independent of the controller. This leads to lack of a deterministic measure of the amount of hysteresis cancelled by the model, while the influence of an inaccurate model on the overall tracking error also remains unclear. This paper proposes a framework to verify the effectiveness and accuracy of inverse hysteresis models by quantifying the hysteresis non-linearities remaining after hysteresis compensation. Further, by estimating the linear and residual non-linear dynamics, valuable information is provided for controller design. The framework is experimentally validated for a Shape Memory Alloy (SMA) actuator. The framework can be seen as a tool to explore and compare different inverse hysteresis models prior to controller design.

An evaluation framework for inverse hysteresis models

A novel linear stepping piezoelectric stacks actuator is proposed, which contains three drive units and can achieve bidirectional movements with high resolution and large-stroke by applying with signals to each unit with a defined sequence signal. The structure and operating principle of the piezoelectric stacks actuator are presented in detail. A prototype was fabricated, and a series of experiments were conducted to reveal its working performances. The experimental results indicated that the actuator can change the distance of the stepping motion by adjusting the value of the driving signals, and the speed of the actuator is proportional to the operating frequency within a certain range of frequency. The actuator achieves two-way movements with a position precision of 400nm. The maximum load of the actuator is 20 N, and the moving speed can reach 0.83 mm/s. The actuator has a broad application potential on the micro operation, optical engineering, precision positioning and other cutting-edge fields.

The research on a novel linear stepping piezoelectric stacks actuator

The main motivations of using smart materials as fundamental in micro/ nanopositioning systems are presented in this chapter. It is shown that the design of classical (or macro) actuated systems cannot directly be used to design small ones, particularly those used for micro/nanopositioning. While in macro, many components are assembled to form the actuated systems, in micro one attempts to reduce the number of elements in order to ensure some resolution and accuracy of positioning and in order to make easy their fabrication. Smart and active materials are therefore seen as the principal and essential component in microsystems and systems working at the micro/nano-scale. Their advantages are detailed in the chapter and some of the behaviors (hysteresis and creep) that are often encountered are explained. A particular attention is given to piezoelectric materials since nine chapters of the book treat them.

Introduction: Smart Materials as Essential Base for Actuators in Micro/Nanopositioning

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Introduction: Smart Materials as Essential Base for Actuators in Micro/Nanopositioning