摘要
提出了一种基于逆的无模型迭代控制控制器结构,不需要被控对象的数学模型,仅利用被控对象的在线和离线I/O数据设计MIIFC控制器;在频域内对算法进行了收敛性分析,给出了外界干扰值NSR对控制器的影响;与传统的PID控制器配合使用,无需对PID控制器参数进行精确调整,通过MIIFC可以对跟踪误差进行补偿;通过电液伺服系统跟踪给定正弦曲线实验,表明该MIIFC控制器可以消除跟踪误差,实现对给定轨迹的精确跟踪。
A modeling-free inversion-based iterative feedforward control structure is proposed.It does not require the mathematical model of the controlled object,only uses the online and offline I/O data of the system to design the MIIFC controller.The convergence of the algorithm is analyzed in the frequency domain,and give the influence of the external interference value NSR on the controller.When used in conjunction with a traditional PID controller,there is no need to accurately adjust the parameters of the PID controller.The tracking error can be compensated through the MIIFC controller;the tracking experiment of electro-hydraulic servo system has been down for a given sinusoidal signal,indicating that the MIIFC controller can eliminate tracking errors and achieve accurate tracking of a given trajectory.
作者
赵江波
孙晓东
王军政
ZHAO Jiang-bo;SUN Xiao-dong;WANG Jun-zheng(School of Automation,Beijing Institute of Technology,Beijing 100081)
出处
《液压与气动》
北大核心
2020年第1期10-14,共5页
Chinese Hydraulics & Pneumatics
基金
国家自然科学基金面上项目(61773057)
关键词
迭代控制
无模型
电液伺服
iterative control
modelless
electro-hydraulic servo
