Modeling, Comparative Investigation and Compensation for Hysteresis Response of Actuator Using Nonlinear Transformation

Aiming at problems such as the reduced positioning accuracy and insufficient dynamic response caused by the inherent hysteresis nonlinearity of piezoelectric actuators, this paper proposes a hysteresis modeling and compensation method for piezoelectric actuators based on nonlinear transformation. The proposed NT hysteresis model utilizes the nonlinear characteristics of activation functions to describe the complex nonlinearity in the hysteresis response of piezoelectric actuators. On this basis, a feedforward compensation controller is further designed based on the proposed inverse NT hysteresis model. Moreover, a composite controller is constructed by combining it with PID feedback to improve the dynamic response speed and trajectory tracking accuracy of piezoelectric actuators. Based on experimental data, the fitting performance of the proposed model is compared with that of several common hysteresis models using evaluation indicators including RMSE, MAPE and SMAPE. Finally, the performance of the proposed control method is verified through step response and sinusoidal trajectory tracking experiments. Experimental results show that the proposed NT hysteresis model performs best in characterizing the hysteresis characteristics of piezoelectric actuators, and the feedforward compensation controller constructed based on its inverse model exhibits superior control performance.