Abstract
Hysteresis behavior of piezoelectric actuators considerably degrades the precision positioning system's performance. Many hysteresis models are developed to describe rate-independent hysteresis, while few models are presented to characterize rate-dependent hysteresis. In this paper, a modified Prandtl-Ishlinskii model is developed to describe rate-dependent hysteresis in piezoelectric actuators. The modified model integrates input frequencies and quadratic polynomials. Meanwhile, the parameters of the developed model are identified easily by the experimental data using self-adaptive particle swarm optimization (SAPSO) and the least square method (LSM) through MATLAB offline. Compared with other models, this model simplifies the modeling of complicated rate-dependent hysteresis behaviors. The validity of this developed model is demonstrated by comparing simulation results with experimental data at different frequencies in the range of 0.5-100 Hz.