论文标题
间歇性数据的换向角度迭代学习控制：增强压电stepper执行器波形
Commutation-Angle Iterative Learning Control for Intermittent Data: Enhancing Piezo-Stepper Actuator Waveforms
论文作者
论文摘要
压电态执行器由于其高分辨率，较高的刚度，快速响应以及通过让人联想到步行的运动而在无限的卒中上放置搬运工的能力，因此在许多纳米定位系统中使用了。本文的目的是开发一种控制方法，以减弱由步行运动引起的干扰，因此在换向角域中重复。为换向角域开发了一种新的迭代学习控制方法，该方法解决了通过参数以参数化输入和误差信号来以不同的驱动频率驱动的迭代变化和非等分采样。对压电stepper执行器上框架的实验验证可实现显着的性能改善。
Piezo-stepper actuators are used in many nanopositioning systems due to their high resolution, high stiffness, fast response, and the ability to position a mover over an infinite stroke by means of motion reminiscent of walking. The aim of this paper is to develop a control approach for attenuating disturbances that are caused by the walking motion and are therefore repeating in the commutation-angle domain. A new iterative learning control approach is developed for the commutation-angle domain, that addresses the iteration-varying and non-equidistant sampling that occurs when the piezo-stepper actuator is driven at varying drive frequencies by parameterizing the input and error signals. Experimental validation of the framework on a piezo-stepper actuator leads to significant performance improvements.
