Title :
FPGA-Based Compensator of Hysteretic Actuator Nonlinearities for Highly Dynamic Applications
Author :
Janocha, Hartmut ; Pesotski, Denis ; Kuhnen, Klaus
Author_Institution :
Saarland Univ., Saarbrucken
Abstract :
This paper presents the design and construction of an inverse controller for the compensation of hysteretic actuator characteristics. The approach is based on the so-called modified Prandtl-Ishlinskii method. The field-programmable-gate-array-based hardware solution allows hysteresis-free actuator operation at signal frequencies up to 1 kHz. Finally, the effect of hysteresis compensation is presented for an example involving a magnetostrictive actuator.
Keywords :
actuators; compensation; control nonlinearities; field programmable gate arrays; hysteresis; magnetostrictive devices; FPGA-based compensator; Prandtl-Ishlinskii method; hysteresis compensation; hysteretic actuator nonlinearities; inverse controller; magnetostrictive actuator; signal frequency; Coils; Control nonlinearities; Control systems; Displacement control; Field programmable gate arrays; Frequency; Hardware; Hydraulic actuators; Hysteresis; Magnetostriction; Field-programmable gate array (FPGA); hysteresis compensation; magnetostrictive actuator; modified Prandtl–Ishlinskii method;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2007.915065
