超声波电机离散采样迭代学习逆控制  

Discrete Sampling Iterative Learning Inverse 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12期56-59,93,共5页Micromotors

基　　金：国家自然科学基金(U1304501)。

摘　　要：以离散采样的超声波电机迭代学习控制系统为对象,分别从时域和频域两个角度,对离散采样迭代学习控制器的动态特性进行分析,推导其单调收敛的判据,为控制器的设计提供理论基础和设计原则。基于推导结果,设计超声波电机离散迭代学习控制器。仿真和实验结果表明,所提控制策略及控制器设计方法有效,控制效果良好,对负载间歇跳变等外加非重复扰动具有适应能力。Taking the discrete sampling iterative learning control system for ultrasonic motor as the analysis object,the dynamic characteristics of the discrete sampling iterative learning controller were analyzed from two perspectives of time domain and frequency domain,and the criterion of monotone convergence was derived,which provided the theoretical basis and design principle for the controller design.Based on the derived results,a discrete iterative learning controller for ultrasonic motor was designed.The results of simulation and experiments indicate that the proposed control strategy and controller design method are effective,the control performance is good,and it has the ability to adapt to external non-repeated disturbances such as load intermittent jump.

关 键 词：超声波电机 迭代学习 采样系统 非线性 

分 类 号：TM359.9[电气工程—电机]