文献类型：期刊文献

中文题名：压电微动台数据驱动无模型自适应反馈-前馈跟踪控制

英文题名：Data-Driven Model-Free Adaptive Feedback-Feedforward Tracking Control for Piezoelectric Micropositioning Stage

作者：尹小恰[1];许静飞[2];赖磊捷[2]

机构：[1]华东理工大学机械与动力工程学院,上海200237;[2]上海工程技术大学机械与汽车工程学院,上海201620

年份：2026

卷号：48

期号：1

起止页码：149

中文期刊名：压电与声光

外文期刊名：Piezoelectrics & Acoustooptics

收录：;北大核心:【北大核心2023】；

基金：国家自然科学基金项目(52475063,52005333);上海高校IV类高峰学科建设项目。

语种：中文

中文关键词：压电微动台;数据驱动;陷波滤波器;无模型自适应前馈;跟踪控制

外文关键词：piezoelectric micropositioning stage;data-driven;notch filter;model-free adaptive feedforward;tracking control

摘要：该文提出了一种融合数据驱动无模型前馈补偿与陷波滤波反馈的自适应控制方法,用于提升压电微动台的跟踪性能。首先在反馈控制中构建自适应陷波滤波器以抑制平台的谐振影响,通过对误差信号进行快速傅里叶变换,在线得到陷波滤波器的各项参数,从而有效抑制平台谐振;然后建立数据驱动无模型自适应前馈控制器,增强系统对噪声等干扰的鲁棒性,进一步提升定位平台的跟踪精度;最后搭建压电微动台实验系统,采用所设计的无模型前馈控制器与自适应陷波滤波器进行轨迹跟踪实验。结果表明,相比于传统比例积分控制和陷波滤波控制,三角波信号跟踪的最大误差分别降低58.06%与31.29%,证实了所提数据驱动控制器可改善平台的稳定性与跟踪性能。
This study proposes an adaptive control method that integrates data-driven model-free feedforward compensation with a feedback signal output by a notch filter to enhance the tracking performance of the piezoelectric micropositioning stage.An adaptive notch filter is introduced within the feedback control to suppress resonance effects;fast Fourier transform on the error signal enables online parameter estimation of the notch filter,effectively mitigating resonance.Subsequently,a data-driven model-free adaptive feedforward controller is established to enhance the system robustness against disturbances such as noise,further improving the tracking accuracy of the positioning stage.To evaluate the effectiveness of the proposed approach,an experimental piezoelectric micropositioning stage was set up and trajectory tracking experiments were conducted using the model-free feedforward controller and adaptive notch filter.The results demonstrate that the proposed approach reduced maximum tracking errors for triangular wave signals by 58.06%and 31.29%compared to conventional proportional-integral control and notch filtering,respectively.Thus,the proposed data-driven controller significantly improves the stability and tracking performance of the micropositioning stage.