Internal Model Control of Piezoceramic Actuator Based on Hammerstein Model

In this paper, a Hammerstein model is proposed to describe the rate-dependent hysteresis in piezoceramic actuator. The generalized Bouc-Wen model is utilized to describe the static nonlinear characteristic while a linear dynamic model is constructed to capture the rate-dependent property of the hysteresis. Firstly, the generalized Bouc-Wen model parameters are identified by Differential Evolution (DE) algorithm and the linear dynamic model parameters are identified by recursive least squares (RLS) algorithm. Based on the Hammerstein model, an Internal Model Controller combined with inverse hysteresis compensation which is connected in cascade with the piezoceramic actuator to linearize the system is proposed for real-time tracking control. Finally, the modeling experimental results show that the proposed model can describe the hysteresis loops better and have good generalization ability. The control experimental results show that the proposed control strategy has better tracking accuracy and real-time ability.