With regard to precision/ultra-precision motion systems,it is important to achieve excellent tracking performance for various trajectory tracking tasks even under uncertain external disturbances.In this paper,to overc...With regard to precision/ultra-precision motion systems,it is important to achieve excellent tracking performance for various trajectory tracking tasks even under uncertain external disturbances.In this paper,to overcome the limitation of robustness to trajectory variations and external disturbances in offline feedforward compensation strategies such as iterative learning control(ILC),a novel real-time iterative compensation(RIC)control framework is proposed for precision motion systems without changing the inner closed-loop controller.Specifically,the RIC method can be divided into two parts,i.e.,accurate model prediction and real-time iterative compensation.An accurate prediction model considering lumped disturbances is firstly established to predict tracking errors at future sampling times.In light of predicted errors,a feedforward compensation term is developed to modify the following reference trajectory by real-time iterative calculation.Both the prediction and compen-sation processes are finished in a real-time motion control sampling period.The stability and convergence of the entire control system after real-time iterative compensation is analyzed for different conditions.Various simulation results consistently demonstrate that the proposed RIC framework possesses satisfactory dynamic regulation capability,which contributes to high tracking accuracy comparable to ILC or even better and strong robustness.展开更多
Continuous phase plate（CPP）,which has a function of beam shaping in laser systems,is one kind of important diffractive optics.Based on the Fourier transform of the Gerchberg-Saxton（G-S） algorithm for designing CPP...Continuous phase plate（CPP）,which has a function of beam shaping in laser systems,is one kind of important diffractive optics.Based on the Fourier transform of the Gerchberg-Saxton（G-S） algorithm for designing CPP,we proposed an optical diffraction method according to the real system conditions.A thin lens can complete the Fourier transform of the input signal and the inverse propagation of light can be implemented in a program.Using both of the two functions can realize the iteration process to calculate the near-field distribution of light and the far-field repeatedly,which is similar to the G-S algorithm.The results show that using the optical diffraction method can design a CPP for a complicated laser system,and make the CPP have abilities of beam shaping and phase compensation for the phase aberration of the system.The method can improve the adaptation of the phase plate in systems with phase aberrations.展开更多
基金This work was supported in part by the National Nature Science Foundation of China(51922059)in part by the Beijing Natural Science Foundation(JQ19010)in part by the China Postdoctoral Science Foundation(2021T140371).
文摘With regard to precision/ultra-precision motion systems,it is important to achieve excellent tracking performance for various trajectory tracking tasks even under uncertain external disturbances.In this paper,to overcome the limitation of robustness to trajectory variations and external disturbances in offline feedforward compensation strategies such as iterative learning control(ILC),a novel real-time iterative compensation(RIC)control framework is proposed for precision motion systems without changing the inner closed-loop controller.Specifically,the RIC method can be divided into two parts,i.e.,accurate model prediction and real-time iterative compensation.An accurate prediction model considering lumped disturbances is firstly established to predict tracking errors at future sampling times.In light of predicted errors,a feedforward compensation term is developed to modify the following reference trajectory by real-time iterative calculation.Both the prediction and compen-sation processes are finished in a real-time motion control sampling period.The stability and convergence of the entire control system after real-time iterative compensation is analyzed for different conditions.Various simulation results consistently demonstrate that the proposed RIC framework possesses satisfactory dynamic regulation capability,which contributes to high tracking accuracy comparable to ILC or even better and strong robustness.
文摘Continuous phase plate（CPP）,which has a function of beam shaping in laser systems,is one kind of important diffractive optics.Based on the Fourier transform of the Gerchberg-Saxton（G-S） algorithm for designing CPP,we proposed an optical diffraction method according to the real system conditions.A thin lens can complete the Fourier transform of the input signal and the inverse propagation of light can be implemented in a program.Using both of the two functions can realize the iteration process to calculate the near-field distribution of light and the far-field repeatedly,which is similar to the G-S algorithm.The results show that using the optical diffraction method can design a CPP for a complicated laser system,and make the CPP have abilities of beam shaping and phase compensation for the phase aberration of the system.The method can improve the adaptation of the phase plate in systems with phase aberrations.
