基于XY运动平台的双迭代学习控制器研究  

Study on Double Iterative Learning Controllers Based on XY Motion Platform

作　　者：陈家俊 贺云波[1] 黎炜天 廖俊鸿 CHEN Jia-jun;HE Yun-bo;LI Wei-tian;LIAO Jun-hong(State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]广东工业大学省部共建精密电子制造技术与装备国家重点实验室,广州510006

出　　处：《组合机床与自动化加工技术》2020年第11期94-98,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(51675106,U1601202);广东省自然科学基金(2016A030308016,2015A030312008);广东省R&D重点项目(2015 B010133005,2015B010104006,2015B0101040088);广东省重大研发专项(2018B090906002)。

摘　　要：针对实际工程应用中迭代学习控制迭代次数多,后期收敛速度较慢的问题,提出了双迭代学习的控制策略,然后分别对两个迭代学习控制器进行收敛性分析,并引入超前补偿因子和零相位滤波器,先基于参考输入信号的迭代学习控制器得到最佳参考输入信号,再基于控制量的迭代学习控制器得到最佳控制量,并将该控制算法应用于XY平台进行实验验证。研究结果表明,采用了双迭代学习控制策略时,X轴在迭代了25次后,其跟踪误差相比于未使用迭代学习时降低了99.86%,Y轴在迭代了33次后,其跟踪误差降低了99.87%。该控制策略能有效减少迭代次数,降低跟踪误差。Aiming at the problem that iterative learning control(ILC)needs many iterations and its slow convergence rate in the later stage in practical engineering application,the control strategy including double iterative learning controllers is proposed.And then the convergence analysis of two iterative learning controllers is carried out respectively,and the leading compensation factor and zero phase filter are introduced.The optimal reference input signal is obtained by the iterative learning controller based on the reference input signal.Then the optimal control signal is obtained by the iterative learning controller based on the control signal,and the control algorithm is applied to XY platform for experimental verification.The results show that the tracking error of X-axis after 25 iterations is reduced by 99.86%compared with that without iterative learning,and that of Y-axis after 33 iterations is reduced by 99.87%.The control strategy can effectively reduce the iterations and the tracking error.

关 键 词：迭代学习控制 超前补偿 零相位滤波 

分 类 号：TH166[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]