Complex Hysteresis Modeling of a Broad Class of Hysteretic Actuator Nonlinearities

A big problem in many technical applications is the complex hysteretic characteristic of sensors and actuators, which causes a non-linear and multi-valued mapping between the output variable and the input variable of the transducer. In the last few years at the LPA a general modeling and compensator design method was developed for such complex hysteretic nonlinearities which is based on the so-called modified Prandtl-Ishlinskii approach and which is well suited for real-time applications. The goal of the present paper is to demonstrate experimentally the applicability of this new modeling and compensation method to a broad class of complex hysteretic actuator nonlinearities typically occuring in mechatronic systems with active materials and other actuator principles. With this method the nonlinearity error of the investigated actuator characteristics is reduced at least by a factor of about 15.