On implementation of the Preisach model identification and inversion for hysteresis compensation

Abstract

A challenge for precise positioning in nanopositioning using smart materials is hysteresis, limiting posi-tioning accuracy. The Preisach model, based on the delayed relay operator for hysteresis modelling, isintroduced. The model is identified from experimental data with an input function ensuring informationfor all input levels. This paper presents implementational issues with respect to hysteresis compensationusing the Preisach model, showing the procedure to follow, avoiding pitfalls in both identification andinversion. Issues due to the discrete nature of the Preisach model are discussed, and a specific linearinterpolation method is tested experimentally, showing effective avoidance of excitation of vibrationaldynamics in the smart material. Experimental results of hysteresis compensation are presented, show-ing an approximate error of 5% between the reference and measured displacement. Consequences of aninsufficient discretization level and a high frequency reference signal are illustrated, showing significantdeterioration of the hysteresis compensation performance.