摘要
针对开环迭代学习控制策略难以应对超声波电机时变特性及外界扰动的问题,给出用于超声波电机转速控制的闭环割线学习律。设计学习增益的在线自适应调整机制来补偿超声波电机的非线性,并给出学习增益自适应调整公式的设计方法。实验表明,闭环割线迭代学习控制策略适用于超声波电机的转速控制,控制效果较好,对外界扰动具有较强的鲁棒性。
Aiming at the problem that the open-loop iterative learning control strategy is difficult to deal with the time-varying characteristic of ultrasonic motor and external disturbances, the closed-loop secant learning law for the speed control of ultrasonic motor was given. The on-line adaptive adjustment mechanism of learning gain was designed to compensate the nonlinearity of ultrasonic motor and the design method of learning gain adaptive adjustment formula was given. Experiments show that the closed-loop secant iterative learning control strategy with good control effect and strong robustness to external disturbance is suitable for the speed control of ultrasonic motor.
作者
周颖
宋璐
史敬灼
ZHOU Ying;SONG Lu;SHI Jingzhuo(Henan University of Science and Technology, Luoyang Henan 471023, China)
出处
《微电机》
北大核心
2019年第9期84-87,共4页
Micromotors
基金
国家自然科学基金(U1304501)
关键词
超声波电机
转速控制
迭代学习控制
割线法
ultrasonic motor
speed control
iterative learning control
secant method
