摘要
超声波电机的时变非线性运行特征,使其不易得到期望的运动控制性能。本文将一种含状态反馈的非因果迭代学习控制器应用于超声波电机转速控制,并针对转速接近给定值时持续下降的问题,尝试将状态反馈替换为转速反馈、误差反馈。实验结果表明,采用当前转速或误差代替状态变量来构成实时反馈,能够消除转速持续下降的现象,保证了学习过程的渐进收敛,转速的动态响应性能在迭代学习过程中逐渐趋好,并对负载间歇跳变等外加非重复扰动具有适应能力。
The ultrasonic motor presents time-varying nonlinear operating characteristics,which makes it difficult to obtain desired motion control performance.In this paper,a noncausal iterative learning controller with state feedback was applied to the speed control of ultrasonic motor.Aiming at the problem of continuous decrease when the speed is close to a given value,the state feedback was replaced by speed feedback or error feedback.The experimental results indicate that the continuous decline of speed can be eliminated by using the current speed or error instead of the state variable to form real-time feedback,the asymptotic convergence of learning process is guaranteed,the dynamic response performance of speed are gradually improved during the iterative learning process,and it has the ability to adapt to external non-repeated disturbances such as load intermittent jump.
作者
黄文文
宋璐
史敬灼
HUANG Wenwen;SONG Lu;SHI Jingzhuo(Henan University of Science and Technology,Luoyang Henan 471023,China)
出处
《微电机》
北大核心
2020年第8期81-84,共4页
Micromotors
关键词
超声波电机
迭代学习控制
实时反馈
状态变量
ultrasonic motor
iterative learning control
real-time feedback
state variable
