RESUMO
In this study, we present an identification-based direct construction of the inverse generalized Prandtl-Ishlinskii (P-I) model to facilitate inverse model-based feedforward compensation of asymmetric hysteresis nonlinearities. Compared with the derivation of the inverse model analytically from a generalized P-I model, this direct modeling approach has the following advantages. First, direct inverse model identification is formulated as a nonlinear optimization problem, which is not subject to the constraint condition on the generalized P-I model's threshold and density functions, where this is indispensable for the analytical model inversion procedure. Second, this approach may be a simple and attractive alternative when the identification precision of a generalized P-I model is limited by the constraint condition, which necessarily results in insufficient hysteresis compensation functionality for the analytically derived inverse model. Finally, direct inverse model identification can overcome the drawbacks of the analytical inversion method, including the accumulation of parameter estimation errors in an analytical inverse model because these parameters are computed from the generalized P-I model's parameters in a recursive manner. Our experimental results demonstrated that the implementation of open-loop control with the directly identified inverse generalized P-I model as a feedforward compensator achieved precise compensation for the asymmetric hysteresis nonlinearities of a piezoelectric stack actuator.