Non-linear control of a hydraulic piezo-valve using a generalized Prandtl-Ishlinskii hysteresis model

Frederik Stefanski, Bartosz Minorowicz, Johan Persson, Andrew Plummer, Christopher Bowen

Research output: Contribution to journalArticle

16 Citations (Scopus)
79 Downloads (Pure)

Abstract

The potential to actuate proportional flow control valves using piezoelectric ceramics or other smart materials has been investigated for a number of years. Although performance advantages compared to electromagnetic actuation have been demonstrated, a major obstacle has proven to be ferroelectric hysteresis, which is typically 20% for a piezoelectric actuator. In this paper, a detailed study of valve control methods incorporating hysteresis compensation is made for the first time. Experimental results are obtained from a novel spool valve actuated by a multi-layer piezoelectric ring bender. A generalized Prandtl-Ishlinskii model, fitted to experimental training data from the prototype valve, is used to model hysteresis empirically. This form of model is analytically invertible and is used to compensate for hysteresis in the prototype valve both open loop, and in several configurations of closed loop real time control system. The closed loop control configurations use PID (Proportional Integral Derivative) control with either the inverse hysteresis model in the forward path or in a command feedforward path. Performance is compared to both open and closed loop control without hysteresis compensation via step and frequency response results. Results show a significant improvement in accuracy and dynamic performance using hysteresis compensation in open loop, but where valve position feedback is available for closed loop control the improvements are smaller, and so conventional PID control may well be sufficient. It is concluded that the ability to combine state-of-the-art multi-layer piezoelectric bending actuators with either sophisticated hysteresis compensation or closed loop control provides a route for the creation of a new generation of high performance piezoelectric valves.
Original languageEnglish
Pages (from-to)412-431
Number of pages19
JournalMechanical Systems and Signal Processing
Volume82
Early online date7 Jun 2016
DOIs
Publication statusPublished - 1 Jan 2017

Fingerprint

Hysteresis
Hydraulics
Derivatives
Reels
Step response
Intelligent materials
Piezoelectric ceramics
Piezoelectric actuators
Real time control
Flow control
Ferroelectric materials
Frequency response
Actuators
Feedback
Control systems
Compensation and Redress

Keywords

  • Generalised Prandtl-Ishlinskii model
  • Hydraulic valve
  • Hysteresis
  • Non-linear control
  • Piezoelectric actuator

Cite this

Non-linear control of a hydraulic piezo-valve using a generalized Prandtl-Ishlinskii hysteresis model. / Stefanski, Frederik; Minorowicz, Bartosz; Persson, Johan; Plummer, Andrew; Bowen, Christopher.

In: Mechanical Systems and Signal Processing, Vol. 82, 01.01.2017, p. 412-431.

Research output: Contribution to journalArticle

@article{e9af30c8898140f786b9d18373d51fa8,
title = "Non-linear control of a hydraulic piezo-valve using a generalized Prandtl-Ishlinskii hysteresis model",
abstract = "The potential to actuate proportional flow control valves using piezoelectric ceramics or other smart materials has been investigated for a number of years. Although performance advantages compared to electromagnetic actuation have been demonstrated, a major obstacle has proven to be ferroelectric hysteresis, which is typically 20{\%} for a piezoelectric actuator. In this paper, a detailed study of valve control methods incorporating hysteresis compensation is made for the first time. Experimental results are obtained from a novel spool valve actuated by a multi-layer piezoelectric ring bender. A generalized Prandtl-Ishlinskii model, fitted to experimental training data from the prototype valve, is used to model hysteresis empirically. This form of model is analytically invertible and is used to compensate for hysteresis in the prototype valve both open loop, and in several configurations of closed loop real time control system. The closed loop control configurations use PID (Proportional Integral Derivative) control with either the inverse hysteresis model in the forward path or in a command feedforward path. Performance is compared to both open and closed loop control without hysteresis compensation via step and frequency response results. Results show a significant improvement in accuracy and dynamic performance using hysteresis compensation in open loop, but where valve position feedback is available for closed loop control the improvements are smaller, and so conventional PID control may well be sufficient. It is concluded that the ability to combine state-of-the-art multi-layer piezoelectric bending actuators with either sophisticated hysteresis compensation or closed loop control provides a route for the creation of a new generation of high performance piezoelectric valves.",
keywords = "Generalised Prandtl-Ishlinskii model, Hydraulic valve, Hysteresis, Non-linear control, Piezoelectric actuator",
author = "Frederik Stefanski and Bartosz Minorowicz and Johan Persson and Andrew Plummer and Christopher Bowen",
year = "2017",
month = "1",
day = "1",
doi = "10.1016/j.ymssp.2016.05.032",
language = "English",
volume = "82",
pages = "412--431",
journal = "Mechanical Systems and Signal Processing",
issn = "0888-3270",
publisher = "Elsevier Academic Press Inc",

}

TY - JOUR

T1 - Non-linear control of a hydraulic piezo-valve using a generalized Prandtl-Ishlinskii hysteresis model

AU - Stefanski, Frederik

AU - Minorowicz, Bartosz

AU - Persson, Johan

AU - Plummer, Andrew

AU - Bowen, Christopher

PY - 2017/1/1

Y1 - 2017/1/1

N2 - The potential to actuate proportional flow control valves using piezoelectric ceramics or other smart materials has been investigated for a number of years. Although performance advantages compared to electromagnetic actuation have been demonstrated, a major obstacle has proven to be ferroelectric hysteresis, which is typically 20% for a piezoelectric actuator. In this paper, a detailed study of valve control methods incorporating hysteresis compensation is made for the first time. Experimental results are obtained from a novel spool valve actuated by a multi-layer piezoelectric ring bender. A generalized Prandtl-Ishlinskii model, fitted to experimental training data from the prototype valve, is used to model hysteresis empirically. This form of model is analytically invertible and is used to compensate for hysteresis in the prototype valve both open loop, and in several configurations of closed loop real time control system. The closed loop control configurations use PID (Proportional Integral Derivative) control with either the inverse hysteresis model in the forward path or in a command feedforward path. Performance is compared to both open and closed loop control without hysteresis compensation via step and frequency response results. Results show a significant improvement in accuracy and dynamic performance using hysteresis compensation in open loop, but where valve position feedback is available for closed loop control the improvements are smaller, and so conventional PID control may well be sufficient. It is concluded that the ability to combine state-of-the-art multi-layer piezoelectric bending actuators with either sophisticated hysteresis compensation or closed loop control provides a route for the creation of a new generation of high performance piezoelectric valves.

AB - The potential to actuate proportional flow control valves using piezoelectric ceramics or other smart materials has been investigated for a number of years. Although performance advantages compared to electromagnetic actuation have been demonstrated, a major obstacle has proven to be ferroelectric hysteresis, which is typically 20% for a piezoelectric actuator. In this paper, a detailed study of valve control methods incorporating hysteresis compensation is made for the first time. Experimental results are obtained from a novel spool valve actuated by a multi-layer piezoelectric ring bender. A generalized Prandtl-Ishlinskii model, fitted to experimental training data from the prototype valve, is used to model hysteresis empirically. This form of model is analytically invertible and is used to compensate for hysteresis in the prototype valve both open loop, and in several configurations of closed loop real time control system. The closed loop control configurations use PID (Proportional Integral Derivative) control with either the inverse hysteresis model in the forward path or in a command feedforward path. Performance is compared to both open and closed loop control without hysteresis compensation via step and frequency response results. Results show a significant improvement in accuracy and dynamic performance using hysteresis compensation in open loop, but where valve position feedback is available for closed loop control the improvements are smaller, and so conventional PID control may well be sufficient. It is concluded that the ability to combine state-of-the-art multi-layer piezoelectric bending actuators with either sophisticated hysteresis compensation or closed loop control provides a route for the creation of a new generation of high performance piezoelectric valves.

KW - Generalised Prandtl-Ishlinskii model

KW - Hydraulic valve

KW - Hysteresis

KW - Non-linear control

KW - Piezoelectric actuator

UR - http://www.scopus.com/inward/record.url?scp=84973527684&partnerID=8YFLogxK

U2 - 10.1016/j.ymssp.2016.05.032

DO - 10.1016/j.ymssp.2016.05.032

M3 - Article

VL - 82

SP - 412

EP - 431

JO - Mechanical Systems and Signal Processing

JF - Mechanical Systems and Signal Processing

SN - 0888-3270

ER -