The dynamic equations of piezoelectric benders are studied in this paper, considering nonlinear behavior of
piezoceramics. A second order approximation of constitutive equations of piezoceramics is used to account for
reversible nonlinearities. Transversal and longitudinal deflections at the tip of the beam and the blocking force as well
as sensor equations (output charge as a function of external loads) are obtained under static conditions. The static
equations are then used to construct a linear dynamic model for actuation. A Bouc-Wen type hysteresis model is
employed in order to account for the irreversible nonlinearities. The final equation of motion is in the form of well-known
Hill's equation.
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