Research on Asymmetric Hysteresis Modeling and Feedforward Compensation of Macro Fiber Composite Actuator

doi:10.3901/JME.2023.15.142

Abstract

Abstract: Macro fiber composite (MFC) has been widely used in the precise deformation control due to its advantages of high flexibility, large driving force, and fast electromechanical response, but its inherent asymmetric hysteresis nonlinear characteristics seriously affect its control accuracy. Sigmoid functions with concave and convex features are used to built an asymmetric modified Bouc-Wen model, and a hybrid algorithm combining trust region reflection method and asynchronous particle swarm optimization is used for parameter identification. The results show that the modified Bouc-Wen model can effectively simulate the asymmetric nonlinear behavior of MFC actuators. Compared with the classical Bouc-Wen model, the relative mean square fitting errors of the modified Bouc-Wen model at 0.1 Hz, 1 Hz, and 5 Hz are reduced by 73%, 71%, and 52%, respectively. The asymmetric correction operator shows a combination of concave and convex correction methods in the voltage loading and unloading stages. The concave correction is major used during voltage loading stage, and the convex correction is major used during voltage unloading stage. Based on the inverse model of the proposed modified Bouc-Wen model, the feedforward compensation control method can accurately track the motion trajectory of the sine and triangular wave.

Key words: macro fiber composite, asymmetric hysteresis, parameter identification, feedforward linearization

CLC Number:

TB535
TP13

SHEN Yiping, FU Zhiqiang, WANG Songlai, LI Jian, BIN Guangfu, HU Binliang. Research on Asymmetric Hysteresis Modeling and Feedforward Compensation of Macro Fiber Composite Actuator[J]. Journal of Mechanical Engineering, 2023, 59(15): 142-150.

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