%0 Journal Article
%T Charge
%A H Ghafarirad
%A M Zareinejad
%A NA Mardi
%A SM Rezaei
%J Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering
%@ 2041-3009
%D 2019
%R 10.1177/0954408917743391
%X Piezoelectric actuators are one of the most popular actuators in micro- and nano-applications. The main deficiency of these actuators is the hysteretic behavior. Hysteresis not only can destroy the positioning accuracy, but also may lead to instability. In previous researches, hysteresis in the mechanical domain (voltage每position) has been modeled and compensated by several approaches. The limiting condition has been position measurement by a high cost, fine resolution sensor. So, an alternative idea can be compensation in the electrical domain (voltage每charge). In fact, it can be demonstrated that hysteresis compensation in the electrical domain can simultaneously compensate the mechanical one. But, experimental results depict that voltage每charge relation may be time dependent due to low internal impedances. It would lead to ※time-dependent hysteresis§. As a result, conventional models cannot be applied for hysteresis identification. In this paper, a modified time-dependent Prandtl每Ishlinskii model is proposed to identify the time-dependent hysteresis in low impedance actuators. Utilizing the proposed model, experimental results validate that the mechanical hysteresis would be appropriately compensated as a result of compensation in the electrical domain
%K Bimorph piezoelectric actuators
%K charge-based hysteresis compensation
%K time-dependent Prandtl每Ishlinskii model
%U https://journals.sagepub.com/doi/full/10.1177/0954408917743391