The Piezoelectric Actuator Drive (PAD) is a precise piezoelectric motor generating high-torque rotary motion, which employs piezoelectric stack actuators in a wobblestyle actuation to generate rotation. The piezoelectric stacked ceramics used as the basis for motion in the motor suffer from hysteretic nonlinearities. In order to model these nonlinearities, the first-order hysteresis reversal curves of the actuators are measured and a discrete Preisach model is derived. This forms a basis that enables the study of different compensation methods. The results show matching between measured and estimated responses within 95.8%
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