Theoretical modeling and dynamic characteristics analysis of piezoelectric inertial actuator

The converse wiring method of piezoelectric inertial actuator (PIA) based on asymmetrically clamping principle is used to overcome backward motion phenomenon, which is essential for improving the stability and positioning accuracy of actuator. However, the theoretical researches performed for the driving technology with the novel converse wiring method is scarce at present. To remedy this shortage, a theoretical model of the above mentioned method is proposed to analyze its dynamic characteristics and output performances comprehensively by comparing the theoretical model with traditional direct wiring method for the first time. In this work, the physical models, mathematical models and simulation models of the actuator under two wiring methods are established and analyzed. LuGre friction model using in Simulink has been further modified to simulate the frictional force of the actuator more accurately. With a series of experimental results of output characteristics, the simulation models and each internal subsystem are verified. On this basis, the relationships between resultant force and velocity, frictional force and velocity are revealed theoretically. Besides, the essential mechanism that the actuator can achieve no backward motion and high stability under the converse wiring method is explained from a theoretical perspective. This work provides theoretical guidance for the design and optimization of actuators, contributing to the exploration of internal mechanism and the establishment of a systematic and universal theoretical model for PIA.