A hybrid hysteresis and dynamics model for piezo-driven flexure-based mechanisms

Yanding Qin, Heng Duan, Bijan Shirinzadeh

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

Abstract

A piezo-driven flexure-based mechanism contains coupled dynamics and hysteresis, i.e., the system is consisted of both linear and nonlinear components that are difficult or impossible to isolate. This paper investigates the couplings and interactions between the hysteresis and dynamics of piezo-driven systems. On the one hand, the hysteresis-like behavior is caused by the delay between the output and input of a system, which is not unique for nonlinear systems. Thus, the hysteresis loop is also observable in linear systems. On the other hand, hysteresis will cause extra phase lag to the dynamics of the overall system if it is included in the measured data. As the measured data contain information on both the hysteresis and dynamics, it is difficult to achieve precise models if hysteresis or dynamics is identified separately, or precise models are only valid within a very small input rate or frequency range. This paper proposes a hybrid hysteresis and dynamics model, where the hysteresis can be modeled as a rate-independent hysteresis model followed by a linear dynamics model to account for the rate-dependence and the linear dynamics of the flexure-based mechanism is then cascaded to the hysteresis model. Comparisons between the analytical and experimental results show that this hybrid model successfully capture the characteristics of the coupled hysteresis and dynamics of piezo-driven systems.

Original languageEnglish
Title of host publicationMARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales
EditorsSinan Haliyo, Albert Sill, Quan Zhou, Pasi Kallio, Sergej Fatikow
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781728109473
DOIs
Publication statusPublished - 1 Jul 2019
EventInternational Conference on Manipulation, Automation and Robotics at Small Scales 2019 - Helsinki, Finland
Duration: 1 Jul 20195 Jul 2019
Conference number: 4th

Publication series

NameMARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales

Conference

ConferenceInternational Conference on Manipulation, Automation and Robotics at Small Scales 2019
Abbreviated titleMARSS 2019
CountryFinland
CityHelsinki
Period1/07/195/07/19

Cite this

Qin, Y., Duan, H., & Shirinzadeh, B. (2019). A hybrid hysteresis and dynamics model for piezo-driven flexure-based mechanisms. In S. Haliyo, A. Sill, Q. Zhou, P. Kallio, & S. Fatikow (Eds.), MARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales [8860933] (MARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/MARSS.2019.8860933
Qin, Yanding ; Duan, Heng ; Shirinzadeh, Bijan. / A hybrid hysteresis and dynamics model for piezo-driven flexure-based mechanisms. MARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales. editor / Sinan Haliyo ; Albert Sill ; Quan Zhou ; Pasi Kallio ; Sergej Fatikow. IEEE, Institute of Electrical and Electronics Engineers, 2019. (MARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales).
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abstract = "A piezo-driven flexure-based mechanism contains coupled dynamics and hysteresis, i.e., the system is consisted of both linear and nonlinear components that are difficult or impossible to isolate. This paper investigates the couplings and interactions between the hysteresis and dynamics of piezo-driven systems. On the one hand, the hysteresis-like behavior is caused by the delay between the output and input of a system, which is not unique for nonlinear systems. Thus, the hysteresis loop is also observable in linear systems. On the other hand, hysteresis will cause extra phase lag to the dynamics of the overall system if it is included in the measured data. As the measured data contain information on both the hysteresis and dynamics, it is difficult to achieve precise models if hysteresis or dynamics is identified separately, or precise models are only valid within a very small input rate or frequency range. This paper proposes a hybrid hysteresis and dynamics model, where the hysteresis can be modeled as a rate-independent hysteresis model followed by a linear dynamics model to account for the rate-dependence and the linear dynamics of the flexure-based mechanism is then cascaded to the hysteresis model. Comparisons between the analytical and experimental results show that this hybrid model successfully capture the characteristics of the coupled hysteresis and dynamics of piezo-driven systems.",
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Qin, Y, Duan, H & Shirinzadeh, B 2019, A hybrid hysteresis and dynamics model for piezo-driven flexure-based mechanisms. in S Haliyo, A Sill, Q Zhou, P Kallio & S Fatikow (eds), MARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales., 8860933, MARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales, IEEE, Institute of Electrical and Electronics Engineers, International Conference on Manipulation, Automation and Robotics at Small Scales 2019, Helsinki, Finland, 1/07/19. https://doi.org/10.1109/MARSS.2019.8860933

A hybrid hysteresis and dynamics model for piezo-driven flexure-based mechanisms. / Qin, Yanding; Duan, Heng; Shirinzadeh, Bijan.

MARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales. ed. / Sinan Haliyo; Albert Sill; Quan Zhou; Pasi Kallio; Sergej Fatikow. IEEE, Institute of Electrical and Electronics Engineers, 2019. 8860933 (MARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales).

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

TY - GEN

T1 - A hybrid hysteresis and dynamics model for piezo-driven flexure-based mechanisms

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AU - Duan, Heng

AU - Shirinzadeh, Bijan

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N2 - A piezo-driven flexure-based mechanism contains coupled dynamics and hysteresis, i.e., the system is consisted of both linear and nonlinear components that are difficult or impossible to isolate. This paper investigates the couplings and interactions between the hysteresis and dynamics of piezo-driven systems. On the one hand, the hysteresis-like behavior is caused by the delay between the output and input of a system, which is not unique for nonlinear systems. Thus, the hysteresis loop is also observable in linear systems. On the other hand, hysteresis will cause extra phase lag to the dynamics of the overall system if it is included in the measured data. As the measured data contain information on both the hysteresis and dynamics, it is difficult to achieve precise models if hysteresis or dynamics is identified separately, or precise models are only valid within a very small input rate or frequency range. This paper proposes a hybrid hysteresis and dynamics model, where the hysteresis can be modeled as a rate-independent hysteresis model followed by a linear dynamics model to account for the rate-dependence and the linear dynamics of the flexure-based mechanism is then cascaded to the hysteresis model. Comparisons between the analytical and experimental results show that this hybrid model successfully capture the characteristics of the coupled hysteresis and dynamics of piezo-driven systems.

AB - A piezo-driven flexure-based mechanism contains coupled dynamics and hysteresis, i.e., the system is consisted of both linear and nonlinear components that are difficult or impossible to isolate. This paper investigates the couplings and interactions between the hysteresis and dynamics of piezo-driven systems. On the one hand, the hysteresis-like behavior is caused by the delay between the output and input of a system, which is not unique for nonlinear systems. Thus, the hysteresis loop is also observable in linear systems. On the other hand, hysteresis will cause extra phase lag to the dynamics of the overall system if it is included in the measured data. As the measured data contain information on both the hysteresis and dynamics, it is difficult to achieve precise models if hysteresis or dynamics is identified separately, or precise models are only valid within a very small input rate or frequency range. This paper proposes a hybrid hysteresis and dynamics model, where the hysteresis can be modeled as a rate-independent hysteresis model followed by a linear dynamics model to account for the rate-dependence and the linear dynamics of the flexure-based mechanism is then cascaded to the hysteresis model. Comparisons between the analytical and experimental results show that this hybrid model successfully capture the characteristics of the coupled hysteresis and dynamics of piezo-driven systems.

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U2 - 10.1109/MARSS.2019.8860933

DO - 10.1109/MARSS.2019.8860933

M3 - Conference Paper

T3 - MARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales

BT - MARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales

A2 - Haliyo, Sinan

A2 - Sill, Albert

A2 - Zhou, Quan

A2 - Kallio, Pasi

A2 - Fatikow, Sergej

PB - IEEE, Institute of Electrical and Electronics Engineers

ER -

Qin Y, Duan H, Shirinzadeh B. A hybrid hysteresis and dynamics model for piezo-driven flexure-based mechanisms. In Haliyo S, Sill A, Zhou Q, Kallio P, Fatikow S, editors, MARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales. IEEE, Institute of Electrical and Electronics Engineers. 2019. 8860933. (MARSS 2019 - International Conference on Manipulation, Automation, and Robotics at Small Scales). https://doi.org/10.1109/MARSS.2019.8860933