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Asymmetric APSO-TRR Algorithm. Modify 2nd Eq.
Asymmetric APSO-TRR Algorithm. Modify 2nd Eq.
A R T I C L E I N F O A B S T R A C T
Keywords: Macro fiber composite (MFC) is widely used in active vibration and deformation control. The intrinsic asym
Macro fiber composite metric hysteresis nonlinearity of MFC affects the control accuracy. In this paper, a modified Bouc-Wen (MBW)
Hysteresis nonlinearity model based on the sigmoid function is proposed to describe the asymmetric hysteresis characteristics of MFC,
Modified Bouc-Wen model
and its parameters are identified by a hybrid algorithm composed of the trust-region reflection method and
Parameter identification
Hybrid algorithm
asynchronous particle swarm optimization. The accuracy of the proposed MBW model is verified though hys
teresis tests of MFC under different drive frequencies. The results show that the MBW model can accurately
model the asymmetrical hysteresis of the MFC actuator, the modeling error is reduced by 72% compared with the
classic Bouc-Wen model. The proposed hybrid parameter identification method saves 95% of the time compared
with the particle swarm optimization and asynchronous particle swarm optimization algorithms.
1. Introduction asymmetric operator into the Bouc-Wen model and reduced error by
30%. Wang [4] introduced a polynomial asymmetric lag component into
Macro fiber composite (MFC) is widely used in precision positioning the Bouc-Wen model and identified the parameters using a modified
and active vibration control due to its excellent high displacement res differential evolution algorithm. Zhang [18] introduced the asymmetric
olution, fast response time, and high flexibility [1–3]. The inherent feature operator in the classic Bouc-Wen (CBW) model and used the
ferroelectric characteristics of MFC lead to complex nonlinear hysteresis particle swarm optimization (PSO) algorithm for parameter identifica
behavior between the input voltage and the output displacement [4]. tion based on a genetic algorithm. Kim [19] combined the CBW model
The hysteretic nonlinear behavior of MFC can be suppressed by estab with a piecewise linear convex function to describe asymmetric hys
lishing a hysteretic inverse model to control the driving voltage [5]. The teresis. Hu [20] introduced an exponential input function in the CBW
hysteresis characteristics have been studied extensively and various model to characterize the asymmetric hysteresis and identified the pa
hysteresis models have been developed, such as the Preisach model, rameters through a differential evolution (DE) algorithm. Kang [21]
Prandtl Ishlinskii model, Dahl model, Maxwell model, Bouc–Wen model, proposed a new fractional-order normalized asymmetric Bouc-Wen
etc [6–10]. Bouc-Wen model is widely used to describe symmetric model based on an N-order polynomial input function and two frac
hysteresis characteristics due to its high computational efficiency, good tional operators.
real-time performance, and simple inverse solution [11,12]. It is Although the above works consider asymmetric hysteresis charac
important to note that piezoelectric materials in practical applications teristics, they still have two problems. Firstly, the Runge-Kutta method
have asymmetric hysteresis characteristics, which means that Bouc-Wen or the multi-step method must be used to calculate nonlinear differential
hysteresis modeling will result in high modeling errors in piezoelectric equations, and the above-mentioned correction method increases the
materials [13–15]. parameters of the hysteresis operator, which makes it extremely difficult
As for asymmetrical hysteresis, Song [16] generalized the classic to calculate the model and identify its parameters [22,23]. Secondly,
Bouc-Wen model by employing six shape-control parameters to account these models still result in large errors between the simulation and
for more generic asymmetric hysteresis. Zhu [17] introduced an experimental hysteresis loop under low driving frequency, especially at
https://doi.org/10.1016/j.sna.2022.113830
Received 13 May 2022; Received in revised form 18 August 2022; Accepted 18 August 2022
Available online 22 August 2022
0924-4247/© 2022 Elsevier B.V. All rights reserved.
Z. Fu et al. Sensors and Actuators: A. Physical 346 (2022) 113830
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Z. Fu et al. Sensors and Actuators: A. Physical 346 (2022) 113830
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Z. Fu et al. Sensors and Actuators: A. Physical 346 (2022) 113830
by u̇ and h, but also affected by the driving voltage u and the sign of u̇.
The reason why the CBW model cannot describe the asymmetric hys
teresis is that the shape control function is independent of u and sgn(u̇)
[16]. Considering that the correction of the hysteresis operator will
greatly increase the difficulty of parameter identification, it is desirable
to develop an asymmetric correction in parallel with the hysteresis
operator and related to the sign of u̇ and the voltage u. The well-known
Sigmoid function is a smooth, continuous and strictly monotonic
S-shaped function, and its concave and convex features can be used to
asymmetrically modify the CBW model. Therefore, an MBW model
based on the sigmoid function is proposed as follows
y(t) = k⋅u(t) + h(t) + s(t) (5)
( )( )− 3
s̈(t) = o⋅p2 ⋅e− p(u(t)− q)
[1 + sgn(u̇(t) ) ]⋅ e− p(u(t)− q )
− 1 1 + e− p(u(t)− q )
(9)
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Z. Fu et al. Sensors and Actuators: A. Physical 346 (2022) 113830
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Z. Fu et al. Sensors and Actuators: A. Physical 346 (2022) 113830
yHM
i = k⋅u(iT) + s(iT) + h(iT) (12) initial point in a given bound for the trust-region reflective algorithm to
reduce the impact of the initial solution. The proposed new hybrid
( )
2 trust-region reflective algorithm can greatly improve the convergence of
s(iT) = o[1 + sgn(u̇(iT) ) ]⋅ − 1 (13)
1 + e− p(u(iT)− q ) parameters extraction without sacrificing accuracy and stability.
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Z. Fu et al. Sensors and Actuators: A. Physical 346 (2022) 113830
Table 1 ⎧ ⎫
Main parameters of the APSO-TRR algorithms. ⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪ ⎪
⎪
⎪
⎪ (ωmax − ωmin ) × (f − fmin ) ⎪
⎪
Symbol Quantity Values ⎪
⎪ ωmin − , f ≤ favg ⎪
⎪
⎪
⎪ favg − fmin ⎪
⎪
c1 ,c2 Acceleration Coefficient 2
⎪
⎨ ⎪
⎬
ωmin Minimum inertia 0.6 ωt+1 = (17)
⎪ ⎪
ωmax Maximum inertia 0.9 ⎪
⎪
⎪
⎪
⎪
⎪
Iterpmax Number of Iterations of APSO 3
⎪
⎪ ⎪
⎪
⎪
⎪ ⎪
⎪
Itermax Maximum number of Iterations 300 ⎪
⎪ ωmax , f > favg ⎪
⎪
⎪
⎪ ⎪
⎪
8 ⎩ ⎭
Ptol Parameter tolerance of TRR 1 × 10−
8
Ftol Function tolerance of TRR 1 × 10−
where f is the objective function value of the particle, favg and fmin
Table 2 represent the average objective function value and minimum objective
Parameter range of PSO/APSO algorithm for CBW and MBW models. function value of all particles, respectively.
Parameters α β γ k o p q
3.3. TRR algorithm
Lower bound -1 -1 -1 -1 -1 -1 0
Upper bound 1 1 1 1 1 1 1500
Instead of directly using the RMSE as the objective function, the TRR
method uses the error function vector as the input function to enable the
computation of the derivative information. But the SSE (the Sum of
where v is the particle flight speed, ω is the dynamic constant, which
Squares due to Error) is calculated and used as the objective value to be
controls the influence of the previous speed on the current speed, x
minimized inside the algorithm. The TRR algorithm can be used to solve
represents the particle position, c1 , c2 are the learning factor, c1 adjust
both bound unconstrained and constrained minimization problems,
the step size of particles flying to their best position, c2 adjust the step
which is implemented by choosing appropriate diagonal scaling matrix
size of particles flying to the global best position, r1 , r2 are mutually
and quadratic model to convert the objective function into an approxi
independent pseudo-random numbers.
mate function as follows. By setting the lower bound to be minus infinite
The nonlinear dynamic inertia weight coefficient ωt+1 is adopted to
and the upper bound to be plus infinite, the TRR algorithm becomes
balance the traditional PSO algorithm’s global search ability and local
bound-unconstrained [34,36].
improvement ability as follows
Table 3
Parameter identification results.
Parameters PSO APSO APSO-TRR
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Z. Fu et al. Sensors and Actuators: A. Physical 346 (2022) 113830
Fig. 11. Evolution history of the APSO-TRR algorithm for the best fitness and parameters α, β, γ, k, o, p and q.
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Z. Fu et al. Sensors and Actuators: A. Physical 346 (2022) 113830
Table 4
Model parameters identified by APSO-TRR algorithm.
Frequency 0.1 Hz 1 Hz 5 Hz
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Z. Fu et al. Sensors and Actuators: A. Physical 346 (2022) 113830
(Fig. 13. Hysteresis curves with identified and experimental data at different frequencies.
reduces the error by 72% compared with the CBW model because the
Table 5 MBW model can accurately describe the asymmetric hysteresis
Model error test at different frequencies.
nonlinear characteristics of the MFC.
Frequency CBW MBW
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Z. Fu et al. Sensors and Actuators: A. Physical 346 (2022) 113830
asymmetric correction terms all show the concave-convex combined Declaration of Competing Interest
correction form at different frequencies. The correction term only works
on the voltage loading phase of the MFC actuator. The authors declare that they have no known competing financial
The fitting results and the model errors of MBW and CBW are shown interests or personal relationships that could have appeared to influence
in Fig. 13. The MBW model is more accurate than the CBW model. the work reported in this paper.
Although the correction term only acts on the voltage loading stage, the
correction model can improve the accuracy of the entire hysteresis loop. Data Availability
This is because the inflection point of the hysteresis curve has changed
with the concave-convex correction of the hysteresis curve in the The data that has been used is confidential.
loading phase. The MBW model can accurately fit the hysteresis curve in
the unloading phase and improve the overall fitting accuracy of the Acknowledgements
hysteresis curve.
The root-mean-square error ΔRMSE and relative root-mean-square This research was funded by the National Natural Science Founda
error ΔRRMSE are introduced to qualify the modeling errors [38]. tion of China (No. 52075193), the Hunan Innovative Province Con
√̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅ struction Special Foundation (No. 2020RC3049), the Hunan Provincial
√n
√∑ (
√ HM 2
) Natural Science Foundation (No. 2020JJ6029, No. 2022JJ30260), and
√i=1 yi − yi (24) the Foundation of Hunan Educational Committee (No. 21A0310).
ΔRMSE =
n
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