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

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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
Early online date7 Jun 2016
Publication statusPublished - 1 Jan 2017


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


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