抑制非线性扰动的迭代学习控制系统研究  

Inhibition of nonlinear perturbation of iterative learning control system

作　　者：陆仲达[1,2] 王丽婧[1] 徐凤霞[1] 

机构地区：[1]齐齐哈尔大学计算机与控制工程学院,黑龙江齐齐哈尔161006 [2]哈尔滨理工大学计算机科学与技术学院,黑龙江哈尔滨150001

出　　处：《计算机工程与科学》2016年第6期1294-1298,共5页Computer Engineering & Science

基　　金：黑龙江省留学归国科学基金(LC2015024)

摘　　要：多轴旋转机械体速率系统和位置系统中存在一类非线性扰动,这类非线性扰动具有多周期性的性质,并具有周期不变性。为抑制多周期非线性扰动对系统的影响,在系统满足连续里普希斯条件时,得出位置多周期非线性扰动转化为时间多周期非线性扰动的条件。提出一种迭代学习控制方法,通过系统误差收敛性分析来构造学习算子,利用系统的稳态误差信号构成前馈补偿,得出补偿多轴测旋转机械体周期非线性扰动的条件,并证明了算法稳定性。仿真表明,该方法能有效地补偿系统的多周期性非线性扰动,提高多轴旋转机械体系统的控制精度,具有较高的实用价值。There is a class of nonlinear perturbation in the rate system and location system of the multiple-spindle rotating machinery, which features multiple and invariant cycles. Assuming that the system meets the continuous Lipschitz condition, the condition in which multi-cycle nonlinear perturbation of position can be converted to multi-cycle nonlinear perturbation of time can be obtained. And thus we propose an iterative learning control method, which constructs the learning operator and the feed-forward compensation by analyzing the sys- tematic error convergence and the steady-state error signals respectively, and the compensation terms for multi- cycle nonlinear perturbation of the multiple-spindle rotating machinery can be obtained. The imitated model proves that this method can compensate for the systematic multi-cycle nonlinear perturbation and improve the control precision of the multi-spindle rotating machinery system.

关 键 词：多轴旋转机械体 多周期 非线性扰动 迭代学习控制 前馈补偿 稳定性 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]