非圆车削系统的无模型自适应迭代学习控制  

Model-free Adaptive Iterative Learning Control for Noncircular Turning System

作　　者：赵云杰[1] 曹荣敏[1] 周惠兴[2] ZHAO Yun-jie;CAO Rong-min;ZHOU Hui-xing(School of Automation,Beijing Information Science and Technology University,Beijing 100192,China;College of Engineering,China Agricultural University,Beijing 100083,China)

机构地区：[1]北京信息科技大学自动化学院,北京100192 [2]中国农业大学工学院,北京100083

出　　处：《控制工程》2018年第10期1922-1926,共5页Control Engineering of China

基　　金：北京市自然科学基金(4142017);国家重大专项子项目(9141323301);北京市教委面上项目((KM201411232007)

摘　　要：直线电机是非圆车削刀具进给系统的重要组成部分,设计的基于非圆车削的无模型自适应迭代学习控制方案具有使直线电机具备自我学习,改进其位置误差的能力。首先给出了迭代域伪梯度的概念与迭代域基于输入输出增量形式的全格式动态线性化数据模型,然后给出相应的无模型自适应迭代学习控制方案,最后给出直线电机位置误差的仿真分析。理论和仿真研究均表明,随着迭代次数的增加,非圆车削刀具进给系统可以改进其位置误差。linear motor is an important part of noncircular turning tool feed system. The model-free adaptive iterative learning control method for noncircular turning tool feed systems is designed in this paper, the method can make the linear motor have the ability to improve its position error. First, the full form dynamic linearization （FFDL） data model with incremental form is given by introducing the concept of pseudo gradient （PG） along the iteration axis. Then, the FFDL data model based model-free adaptive iterative learning control （MFAILC） scheme is designed. Numerical simulation of the position error is shown at last. Theoretical analysis and simulation show that the position error of the linear motor is constantly reduced with the increase of the number of iterations.

关 键 词：无模型自适应控制 迭代学习控制 数据驱动控制 非圆车削 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]