AI 中文总结
本文针对运动控制中执行器死区导致的稳态偏移或极限环问题，提出一种数据驱动架构，通过并行辨识绝对子空间预测器并结合正交投影补偿死区，在Quanser扭转系统和功率放大器上验证了有效性。
AI 中文摘要
执行器死区是运动控制中常见且棘手的非线性现象：在一段指令出力范围内，被控对象无响应，会导致稳态偏移或极限环。本文提出一种数据驱动架构，无需被控对象模型，也无需死区的任何参数化即可补偿此类不匹配。核心思路是，与控制所用的速度型预测器并行，辨识出第二个绝对子空间预测器。由于绝对预测器无积分作用，其表现如同数据驱动的稳态传感器，因此持续的执行器不匹配会呈现为比例预测残差。将该残差作为代理嵌入行为汉克尔矩阵，可将不匹配估计简化为在线评估的单个固定正交投影，无需动态估计器、注入探测信号，也无需运行时预测误差计算。集成到子空间预测控制器后，该框架被证明是递归可行且实际输入-状态稳定的，且在死区遍历稳定后可恢复无偏移跟踪。该方法在六阶、弱阻尼的Quanser多自由度扭转系统上实时验证，该系统的复共轭极点给出弱阻尼开环响应，在±0.18V的执行器死区范围内实现无偏移跟踪。第二项针对高精度功率放大器的研究表明，相同架构可抑制快速开关电力电子中由死区引起的非线性。
英文摘要
Actuator dead-zones are a common and troublesome nonlinearity in motion control: a band of commanded effort over which the plant does not respond, leaving a steady-state offset or a limit cycle. This paper proposes a data-driven architecture that compensates such mismatches without a model of the plant and without any parameterization of the dead-zone. The central idea is to identify, alongside the velocity-form predictor used for control, a second absolute subspace predictor. Because the absolute predictor carries no integral action, it behaves as a data-driven steady-state sensor, so a persistent actuator mismatch appears as a proportional prediction residual. Embedding this residual as a proxy in a behavioral Hankel matrix reduces the mismatch estimate to a single fixed orthogonal projection evaluated online, with no dynamic estimator, no injected probing signal, and no run-time prediction-error computation. Integrated into a subspace predictive controller, the framework is shown to be recursively feasible and practically input-to-state stable, and it recovers offset-free tracking once the dead-band traversal settles. The approach is validated in real time on a sixth-order, lightly damped Quanser multi-DOF torsion system, whose complex-conjugate poles give a lightly damped open-loop response, achieving offset-free tracking across a $\pm 0.18$\,V actuator dead-band. A second study on a high-precision power amplifier shows that the same architecture rejects dead-time-induced nonlinearities in fast-switching power electronics.
