Abstract
Since the relationship between applied voltage and displacement, which is caused by the voltage, shows a hysteresis loop in the bimorph piezoelectric element, we produce a control system for a piezoelectric actuator based on a multi-layer artificial neural network including feedback connections to compensate the hysteresis. After learning the hysteresis loops including the minor loops, the neural network simulates these hysteresis phenomena with very high accuracy. A series of verification tests was performed on a parallel type two-dimensional actuator composed of two bimorph piezoelectric elements and two small links connected by three joints. The network provided a voltage history for several sizes of circular trajectories in two-dimensional space.
