注塑机机械手位置伺服系统灰色预测PID及迭代学习混合控制  

Hybrid servo position control system based on grey prediction PID control and iterative learning for injection molding machine manipulator

作　　者：彭勇刚[1] 韦巍[1] 

机构地区：[1]浙江大学电气工程学院,杭州310027

出　　处：《仪器仪表学报》2008年第10期2062-2066,共5页Chinese Journal of Scientific Instrument

基　　金：国家863支撑项目(2007BAF13B03);浙江省青年人才培养项目(R105341)资助

摘　　要：本文结合灰色预测控制和传统PID控制的优点,设计了灰色预测变参数PIC控制,并利用迭代学习控制的学习能力来增加控制算法对于周期运动系统的控制精度。该方法具有很强的适心性和鲁棒性。通过注塑机机械手位置伺服对象的仿真实验表明,该方法具有很高的控制精度和抗干扰能力。In this paper grey prediction variable parameter PID control method is presented, which integrates the advantages of grey prediction control and normal PID control. Further more iterative learning control method is added to improve the control precision in the situation of periodic movements. This method has the advantages of adaptability and robustness. Simulation results of injection molding machine manipulator servo system indicate that this control method has strong capability of resisting disturbance and can achieve high control precision.

关 键 词：灰色预测 迭代学习控制 伺服系统 PID控制 注塑机机械手 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]