Xu ZHANG, Lei-jie LAI, Peng-zhi LI, Li-min ZHU. Closed-loop inverse iterative learning control in frequency-domain for electromagnetic driven compliant micro-positioning platform[J]. Optics and Precision Engineering, 2021, 29(9): 2149
- Optics and Precision Engineering
- Vol. 29, Issue 9, 2149 (2021)
Fig. 1. Experimental setup of compliant micropositioning stage driven by voice coil motor
Fig. 2. Measured frequency responses in different positions
Fig. 3. Measured and identified frequency response
Fig. 4. Bode diagram of uncorrected system before and after adjusting open-loop gain
Fig. 5. Open loop frequency response using PI controller with phase lead compensation
Fig. 6. Schematic diagram of the compound iterative learning control in inverse frequency domain
Fig. 7. Simulink module of frequency domain inverse iterative control
Fig. 8. Target curve tracking renderings of different control modes
Fig. 9. Tracking results of triangular trajectories with different frequencies
Fig. 10. Convergence effect of root mean square （RMS） errors using frequency domain inverse iteration
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Table 1. Identification parameters of transfer function
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Table 2. Tracking errors of different control methods for 1 Hz triangular wave signal
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