迭代学习控制在电动伺服舵机系统中的应用  

Application of Iterative Learning Control in the Actuator Servo System

作　　者：张兴国[1] 林辉[1] 胡林[1] 

机构地区：[1]西北工业大学自动化学院,西安710072

出　　处：《弹箭与制导学报》2006年第4期99-102,共4页Journal of Projectiles,Rockets,Missiles and Guidance

基　　金：航空科学基金(04F53036)

摘　　要：在传统的增量式积分分离PI控制算法的基础上,引入一D型迭代学习控制前馈环节,提高了电流和位置跟踪的快速性和跟踪精度,速度环为中间环节,在积分分离PI调节的基础上加了bang-bang控制,以加快速度环的响应速度。仿真结果表明,引入D型迭代学习控制后,位置环和电流环的稳态和动态特性良好,保证了系统跟踪的快速性、精确性。Feed-forward scheme of D-type iterative learning control （ILC） law which is based on incremental integral-separated PI control scheme is introduced to improve the tracking performance of the current and position, a compound arithmetic with bang-bang and the integral separated PI in the speed loop, Results of the simulation indicate that by introduction of D-type iterative learning control scheme, the current loop has excellent steady and dynamic performance, and guarantees the speediness and accuracy of the tracking performance of the system.

关 键 词：迭代学习控制(ILC) 无刷直流电动机 伺服控制系统 PI 舵机 

分 类 号：TJ760.35[兵器科学与技术—武器系统与运用工程]