双迭代学习-交叉耦合控制算法设计  

Design of Double Iterative Learning-Cross Coupling Control Algorithm

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作  者:王聪 赵大兴[1] 袁聪 肖迪 WANG Cong;ZHAO Daxing;YUAN Cong;XIAO Di(School of Mechanical Engineering,Hubei Univ.of Tech.,Wuhan 430068,China)

机构地区:[1]湖北工业大学机械工程学院,湖北武汉430068

出  处:《湖北工业大学学报》2021年第1期18-22,41,共6页Journal of Hubei University of Technology

摘  要:传统的迭代学习控制算法和交叉耦合迭代学习控制算法已经无法满足工业制造、军事和交通运输等许多应用领域对控制系统精度的要求,因此,从制造业的角度出发,研究一种面向多轴运动控制系统的轮廓误差控制算法,即在整体系统中使用迭代学习交叉耦合控制算法,又在单轴上使用自适应迭代学习控制算法。实验结果表示,该算法在单轴上的跟踪误差是传统控制算法跟踪误差的75.36%,系统的轮廓误差是传统控制算法轮廓误差的65.15%。因此,这种双迭代学习交叉耦合控制算法技能满足单轴上的跟踪精度要求,也能显著地减小系统的跟踪误差。With the rapid development of science and technology,the performance requirements of control systems are increasing in many applications such as industrial manufacturing,military,and transportation.In manufacturing systems serving these fields,traditional iterative learning control algorithms and cross-coupling Iterative learning control algorithms have been unable to meet their requirements for accuracy.Therefore,from the perspective of the manufacturing industry,this paper is devoted to the research of a dual iterative learning-cross-coupling contour error control algorithm for multi-axis motion control systems,which applies iterative learning and cross-coupling control algorithm in the whole systems and iterative learning control in single axis.The results show that the tracking error of the algorithm in single axis is 75.63 of that in traditional control algorithm,and the contour error is 65.15%of that in traditional control algorithm.Therefore,the double cross-coupling iterative learning control algorithm can meet the requirements for tracking performance accuracy and proposed to improve system performance and reduce contour errors.

关 键 词:跟踪性能 轮廓误差 迭代学习控制 交叉耦合控制 

分 类 号:TB114.2[理学—运筹学与控制论]

 

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