超声波电机多步预测迭代学习转速控制  

Multi-steps Predictive Iterative Learning Speed Control of Ultrasonic Motor

作　　者：黄文文 宋璐 史敬灼 HUANG Wenwen;SONG Lu;SHI Jingzhuo(Henan University of Science and Technology,Luoyang Henan 471023,China)

机构地区：[1]河南科技大学电气工程学院,河南洛阳471023

出　　处：《微电机》2020年第4期66-69,76,共5页Micromotors

摘　　要：超声波电机的时变非线性运行特征,使其不易得到期望的运动控制性能。本文从二维(2D)系统角度出发,给出一种包含控制量差分项的迭代学习控制器形式。随后,基于2D目标函数,采用多步预测思想进行迭代学习控制器设计,推导出一种多步预测迭代学习控制策略,并用于超声波电机转速控制。仿真和实验结果表明,控制策略有效,迭代过程中学习效果明显,电机控制性能良好。The ultrasonic motor presents time-varying nonlinear operating characteristics,which makes it difficult to obtain desired motion control performance.In this paper,from the perspective of two-dimensional(2D)system,an iterative learning controller with differential control quantity was presented.Based on 2D objective function,the iterative learning controller was designed by using the idea of multi-steps prediction,and a multi-steps predictive iterative learning control strategy was derived and applied to the speed control of ultrasonic motor.The results of simulation and experiments indicate that the proposed control strategy is effective,the learning effect is obvious during the iterative process,and the control performance is good.

关 键 词：超声波电机 迭代学习 多步预测 转速控制 

分 类 号：TM359.9[电气工程—电机] TP273[自动化与计算机技术—检测技术与自动化装置]