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The hysteresis characteristic of piezoelectric actuators is one of the major deficiencies in a wide variety of precise tracking positioning controls. This article proposes a control method for piezoelectric actuator based on a proportional integral differential (PID) feedback controller with a feedforward compensation. The hysteresis phenomenon of a piezoelectric actuator is described in the feedforward loop by using a new mathematical model. Finally, some tracking control experiments for a desired sinusoidal trajectory are performed according to the proposed control method. The experimental results demonstrate that the positioning precision is noticeably improved by adding the feedforward compensation based on the new hysteresis model. The maximum error in tracking the sinusoidal signal is lowered about one order of magnitude in comparison with a regular PID controller without any feedforward compensation.