Modeling and analysis of rate-dependent hysteresis characteristics of Maxwell reluctance actuator based on Prandtl−Ishlinskii model

In order to overcome the strong hysteresis nonlinearity between the internal magnetic field strength and magnetic induction strength of Maxwell reluctance actuator materials and the hysteresis between the actuator control voltage and output displacement caused by the increase of magnetic leakage under the long air gap, a rate-dependent improved Prandtl−Ishlinskii (P−I) model was proposed to model the hysteresis characteristics of reluctance actuator. The structure, magnetic circuit and magnetic force model of reluctance actuator were analyzed, and the experimental system of reluctance actuator micropositioning stage based on flexible mechanism was built for the verification of hysteresis model. In order to overcome the hysteresis nonlinearity of the actuator, the traditional P−I model was optimized and improved to make it have the ability to describe the asymmetric rate-dependent hysteresis characteristics, and the particle swarm optimization algorithm was used to complete the parameter identification. The comparative experiment was used to verify the ability of the rate-dependent P−I model to describe the hysteresis nonlinearity of the reluctance actuator. The results show that the root mean square error between the output of rate-dependent P−I model and the actual output under different frequency input signals is less than 0.0049 mm, which is only 0.245% of the overall stroke, and the effectiveness and high precision of the model are proved.