SpringerLink
Log in

Analysis and modeling of hysteresis of piezoelectric micro-actuator used in high precision dual-stage servo system

  • Published:
Control Theory and Technology Aims and scope Submit manuscript

Abstract

A dual-stage servo system consists of a primary coarse actuator for facilitating large motion and a secondary micro-actuator for small but precise motion to improve tracking performance. Piezoelectric micro-actuator made from lead zirconate titanate (PZT) has been a popular choice for the secondary stage. However, the advantage gained by the resolution of the secondary PZT actuator is reduced by its inherent hysteresis nonlinearity. Model based hysteresis compensation techniques are preferred due to their simplicity and fast response. Identification and modeling are two substantial parts in such model-based techniques. This paper presents a rigorous analysis and modeling of the hysteresis of PZT micro-actuator. Modified Generalized Prandtl-Ishlinskii and Coleman-Hodgdon models are studied. Identification of the model through nonlinear least square and particle swarm optimization are examined and compared. Several analyses are done through tuning of the model parameters and identification techniques. Experimental analysis and simulation results underscore the effectiveness of this modeling approach. Finally as a design example, a dual-stage simulation analysis is done to show the effectiveness of systematic modeling on hysteresis compensation.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or Ebook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (Germany)

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. G. Tao, P. V. Kokotovic. Adaptive control of plant with unknown hysteresis. IEEE Transactions on Automatic Control, 1995, 40(2): 200–212.

    Article  MATH  MathSciNet  Google Scholar 

  2. Q. Xu. Identification and compensation of piezoelectric hysteresis without modeling hysteresis inverse. IEEE Transactions on Industrial Electronics, 2013, 60(9): 3927–3937.

    Article  Google Scholar 

  3. A. A. Eielsen, J. T. Gravdahl, K. Y. Pettersen. Adaptive feed-forward hysteresis compensation for piezoelectric actuators. Review of Scientific Instruments, 2012, 83(8): DOI 10.1063/1.4739923.

    Google Scholar 

  4. C. Olmi, L. Y. Li, G. B. Song, et al. A novel hysteresis reducing piezoceramic amplifier. Chinese Control and Decision Conference, New York: IEEE, 2011: 716–721.

    Google Scholar 

  5. M. Bazghaleh, S. Grainger, B. Cazzolato, et al. Implementation and analysis of an innovative digital charge amplifier for hysteresis reduction in piezoelectric stack actuators. Review of Scientific Instruments, 2014, 85(4): DOI 10.1063/1.4871295.

    Google Scholar 

  6. R. C. Smith. Smart Material System: Model Development. Philadelphia: Society for Industrial and Applied Mathematics, 2005.

    Book  Google Scholar 

  7. K. Leang, Q. Zou, S. Devasia. Feed forward control of piezoactuators in atomic force microscope systems: inversion-based compensation for dynamics and hysteresis. IEEE Control Systyem Magazine, 2009, 19(1): 70–82.

    Google Scholar 

  8. I. D. Mayergoyz. Mathematical Models of Hysteresis. New York: Elsevier, 2003.

    Google Scholar 

  9. M. Brokate, J. Sprekels. Hysteresis and Phase transitions. New York: Springer, 1996.

    Book  Google Scholar 

  10. A. Visintin. Differential Models of Hysteresis. Berlin: Springer, 1994.

    Book  Google Scholar 

  11. D. Habineza, M. Rakotondrabe, Y. Le Gorrec. Modeling, identification and feedf orward control of multivariable hysteresis by combining Bouc-Wen equations and the inverse multiplicative structure. Proceedings of the American Control Conference, New York: IEEE, 2014: 4771–4777.

    Google Scholar 

  12. A. Laudani, F. R. Fulginei, A. Salvini. Bouc-wen hysteresis model identification by the metric-topological evolutionary optimization. IEEE Transactions on Magnetics, 2014, 50(2): 621–624.

    Google Scholar 

  13. Y. Shan, J. Speich, K. Leang. Low-cost IR reflective sensors for submicrolevel position measurement and control. IEEE/ASME Transactions on Mechatronics, 2008, 13(6): 700–709.

    Article  Google Scholar 

  14. G. Gu, L. Zhu. High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model. Review of Scientific Instruments, 2010, 81(8): DOI 10.1063/1.3470117.

    Google Scholar 

  15. Y. Qin, Y. Tian, D. Zhang, et al. A novel direct inverse modeling approach for hysteresis compensation of piezoelectric actuator in feedforward applications. IEEE/ASME Transactions on Mechatronics, 2013, 18(3): 981–989.

    Article  Google Scholar 

  16. G. Yang, M. Yang, L. Zhu. Real-time inverse hysteresis compensation of piezoelectric actuators with a modified Prandtl- Ishlinskii model. Review of Scientific Instruments, 2012, 83(6): DOI 10.1063/1.4728575.

    Google Scholar 

  17. M. Al Janaideh, J. Mao, S. Rakheja, et al. Generalized Prandtl-Ishlinskii hysteresis model: hysteresis modeling and its inverse for compensation in smart actuators. Proceedings of the 47th IEEE Conference on Decision and Control, Piscataway: IEEE, 2008: 5182–5188.

    Google Scholar 

  18. Y. Li, R. Horowitz, R. Evans. Vibration control of a PZT actuated suspension dual-stage servo system using a PZT sensor. IEEE Transactions on Magnetics, 2003, 39(2): 932–937.

    Article  Google Scholar 

  19. M. A. Rahman, A. A. Mamun, K. Yao, et al. Particle swarm optimization based modeling and compensation of hysteresis of PZT micro-actuator used in high precision dual-stage servo system. IEEE International Conference on Mechatronics and Automation, Piscataway: IEEE, 2014: 452–457.

    Google Scholar 

  20. M. A. Rahman, A. Al Mamun. Nonlinearity analysis, modeling and compensation in PZT micro-actuator of dual-stage actuator system. Proceedings of the 11th IEEE International Conference on Control and Automation, New York: IEEE, 2014: 1275–1280.

    Google Scholar 

  21. C. Maurice. Particle Swarm Optimization. London: Wiley, 2006.

    Google Scholar 

  22. J. R. Chen, P. Mars. The feasibility of using MLP neural networks for system identification. IEE Colloquium on Neural Networks for systems: Principles and Applications, London: IEE, 1991: 1–3.

    Google Scholar 

  23. M. S. White, S. J. Flockton. Evolutionary Algorithms in Engineering Application. Berlin: Springer, 1997.

    Google Scholar 

  24. T. Kumon, M. Iwasaki, T. Suzuki, et al. Nonlinear system identification using genetic algorithm. Proceedings of the IEEE International Conference on Industrial Electronics, Control and Instrumentation, Piscataway: IEEE, 2000: 2485–2491.

    Google Scholar 

  25. K. F. Man, K. S. Tang, S. Kwong. Genetic algorithms: concepts and application. IEEE Transactions on Industrial Electronics, 1996, 43(5): 519–534.

    Article  Google Scholar 

  26. G. Venter, J. S. Sobieski. Particle swarm optimization. AIAA Journal, 2003, 41(8): 1583–1589.

    Google Scholar 

  27. J. Voros. Modeling and identification of hysteresis using special forms of the coleman-hodgdon model. Journal of Electrical Engineering, 2009, 60(2): 100–105.

    Google Scholar 

  28. G. Guo, Q. Hao, T. S. Low. A dual-stage control design for high track per inch hard disk drives. IEEE Transactions on Magnetics, 2001, 37(2): 860–865.

    Google Scholar 

  29. L. S. Fan, H. H. Ottesen, T. C. Reiley, et al. Magnetic recording head positioning at very high track densities using a microactuator-based two-stage servo system. IEEE Transactions on Industrial Electronics, 1995, 42(3): 222–233.

    Article  Google Scholar 

  30. M. Karaman, W. C. Messner. Robust dual stage HDD track follow control systems design for hand-off sha**. Digest of the Asia- Pacific Magnetic Recording Conference, Singapore: IEEE, 2002: DOI 10.1109/APMRC.2002.1037636.

    Google Scholar 

  31. L. Guo, D. Martin, D. Brunnett. Dual-stage actuator servo control for high density disk drives. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Piscataway: IEEE, 1999: 132–137.

    Google Scholar 

  32. D. Wu, G. Guo, T. C. Chong. Comparative analysis on resonance compensation in HDD dual-stage actuation systems. IEEE Transactions on Industrial Electronics, 2003, 50(6): 1179–1186.

    Article  Google Scholar 

  33. B. M. Chen, T. H. Lee, K. Peng, et al. Composite nonlinear feedback control: theory and an application. IEEE Transactions on Automatic Control, 2003, 48(3): 427–439.

    Article  MathSciNet  Google Scholar 

  34. G. Cheng, B. M. Chen, K. Peng, et al. A Matlab toolkit for composite nonlinear feedback control. Proceedings of the 8th International Conference on Control, Automation and Robot Vision, Piscataway: IEEE, 2004: 878–883.

    Google Scholar 

  35. A. Al-Mamun, G. Guo, C. Bi. Hard Disk Drive: Mechatronics and Control. London: CRC Press, 2007.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, Singapore, 117576, Singapore

    Md. Arifur Rahman & Abdullah Al Mamun

  2. Institute of Materials Research and Engineering, A*STAR (Agency for Science, Technology and Research), 3 Research Link, Singapore, 117576, Singapore

    Kui Yao

Authors
  1. Md. Arifur Rahman
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Abdullah Al Mamun
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Kui Yao
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Md. Arifur Rahman.

Additional information

This work was supported by the Singapore National Research Foundation (NRF) under CRP Award (Nos. NRF-CRP-4-2008-06, IMRE/10-1C0107).

Md. Arifur RAHMAN received his BSc degree in Electrical and Electronic Engineering from Bangladesh University of Engineering and Technology, Dhaka, Bangladesh in October2009. Currently he is working toward the Ph.D. degree at the department of Electrical and Computer Engineering, National University of Singapore, Singapore. He is attached with the Mechatronics and Automation Lab. His current research includes the design and control of high precision servo system with the application to hard disk drive. His areas of focus are resonance compensation and hysteresis control of high precision servo systems.

Abdullah Al MAMUN is currently an Associate Professor in the Department of Electricala nd Computer Engineering, National University of Singapore. He graduated from I.I.T. Kharagpur, India in 1985 and obtained Ph.D. from National University of Singapore in 1997. He has published 50 journal papers and about 60 papers in conference proceedings; he has co-authored one book. His research interests are in the areas of precision servomechanism, intelligent control and mobile robots.

Kui YAO received his bachelor degree in E.E. and Ph.D in electronic materials and devices, both from **’an Jiaotong University, China, in 1989 and 1995, respectively, and his master degree in technical physics from **dian University, China, in 1992. Currently, he is a principal scientist, and the manager of Sensor and Transducer Program, in Institute of Materials Research and Engineering (IMRE), A*STAR, Singapore. During 1998 - 1999, he worked in the Materials Research Laboratory, The Pennsylvania State University,USA. Previously, he was a postdoctoral research fellow in the Microelectronics Center at Nanyang Technological University (NTU),Singapore, during 1995-1997. His research interests cover smart materials with signal and energy conversion and storage functions, including ferroic, piezoelectric, photovoltaic, and biochemical sensing materials, material-critical sensors, actuators, transducers, and their applications.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Rahman, M.A., Mamun, A.A. & Yao, K. Analysis and modeling of hysteresis of piezoelectric micro-actuator used in high precision dual-stage servo system. Control Theory Technol. 13, 184–203 (2015). https://doi.org/10.1007/s11768-015-4150-2

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11768-015-4150-2

Keywords

Search

Navigation