基于最优控制迭代学习的直线伺服系统振动抑制研究  

Research on Vibration Suppression of Linear Servo System Based on Optimal Control Iterative Learning

作　　者：杨亮亮 王杰 王飞[1,2] 史伟民 YANG Liangliang;WANGJie;WANGFei;SHI Weimin(Zhejiang Provincial Key Lab of Modem Textile Machinery & Technology, Zhejiang Sci-Tech University,Hangzhou 310018;The Research Center of Modem Textile Machinery Technology of the Ministry of Education, Zhejiang Sci-Tech University, Hangzhou 310018;Hangzhou Huicui Intelligent Technology Co. Ltd., Hangzhou 310000)

机构地区：[1]浙江理工大学浙江省现代纺织装备技术重点实验室,杭州310018 [2]浙江理工大学教育部现代纺织装备技术工程研究中心,杭州310018 [3]杭州汇萃智能科技有限公司,杭州310000

出　　处：《机械工程学报》2019年第15期217-225,共9页Journal of Mechanical Engineering

基　　金：浙江省自然科学基金(LY18E050016);国家重点研发计划(2017YFB1304000)资助项目

摘　　要：直线伺服系统在高速运动的过程中,会因自身存在的固有振动模态而产生显著的振荡,并影响其轨迹跟踪的性能。本文基于前馈与反馈二自由度控制策略,在稳定的反馈控制器基础上加入迭代学习控制算法,对该类控制算法的稳定性和收敛性进行了分析;同时基于最优控制理论,在驱动力迭代步长受约束的条件下引入拉格朗日算子,不仅增强了算法的鲁棒性,还提高了算法对收敛速度调节的灵活性;最后设计了一种基于最优控制迭代学习的控制器。仿真与实验结果表明,在前馈及反馈二自由度控制的基础上加入最优控制迭代学习的算法,可以有效抑制直线伺服系统在高速运行过程中产生的振动现象,在匀速段的抑制效果尤为显著,从而提高了整体轨迹的跟踪性能。In the process of high-speed motion, linear servo system will produce significant oscillation due to its inherent natural vibration mode and affect its trajectory tracking performance. Based on the feedforward and feedback two-degree-of-freedom control strategy, this paper adds an iterative learning control algorithm based on the stable feedback controller, and analyzes the stability and convergence of the iterative learning control algorithm. At the same time,the Lagrangian is introduced under the condition that the iterative step size is constrained by the optimal control theory,which not only enhanced the robustness of the algorithm, but also improves the flexibility of the algorithm for adjusting the convergence speed. Finally,a controller based on optimal control iterative learning is designed. The simulation and experimental results show that the algorithm of optimal control iterative learning is added to the feedforward and feedback two-degree-of-freedom control, which can effectively suppress the vibration phenomenon generated by the linear servo system during high-speed operation. Significant, thereby improving the tracking performance of the overall trajectory.

关 键 词：直线伺服系统 迭代学习 最优控制 拉格朗日算子 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]