非对称线性包络函数修正Prandtl-Ishlinskii模型的压电快反镜迟滞补偿OA

The inherent hysteresis of piezoelectric fast steering mirrors(PFSMs)severely limits control accuracy in precision positioning systems.To address this limitation,the performance of common enve-lope functions is systematically compared in terms of computational complexity,inversion requirements,and error sources.Based on a comprehensive evaluation,an asymmetric linear envelope function is select-ed,and a rate-dependent generalized Prandtl-Ishlinskii model with an asymmetric linear envelope function(LRGPI)is developed.To mitigate rate-dependent hysteresis,a derivative term is incorporated to extend the model's applicable frequency range.The inverse LRGPI model is subsequently formulated and imple-mented as a feedforward compensator to evaluate hysteresis suppression.Furthermore,a composite con-trol strategy integrating inverse-model feedforward compensation is designed to attenuate external distur-bances.Simulation results indicate that,relative to the inverse models of the tanh envelope-based rate-de-pendent generalized Prandtl-Ishlinskii model(TRGPI)and the cubic envelope-based rate-dependent gen-eralized Prandtl-Ishlinskii model(CRGPI),the LRGPI inverse-model feedforward increases the hystere-sis-compensation bandwidth by 5.78%and 28.69%,respectively.Comparative experiments further dem-onstrate that the RMSE achieved by LRGPI inverse-model feedforward control is reduced by 62.7%,23.2%,and 26.4%compared with the PI inverse model,TRGPI,and CRGPI inverse models,respec-tively.These results demonstrate the superior effectiveness and robustness of the proposed LRGPI model for compensating PFSM hysteresis.