基于高阶内模的变参考轨迹鲁棒迭代学习控制  

High-order internal model based robust iterative learning control with varying trajectory

作　　者：郑俊豪 陶洪峰[1] ZHENG Junhao;TAO Hongfeng(Key Laboratory of Advanced Process Control for Light Industry,Ministry of Education(Jiangnan University),Wuxi Jiangsu 214122,China)

机构地区：[1]教育部轻工过程先进控制重点实验室(江南大学),江苏无锡214122

出　　处：《计算机应用》2024年第7期2279-2284,共6页journal of Computer Applications

基　　金：国家自然科学基金资助项目(61773181,61203092,62103293);高等学校学科创新引智计划项目(B23008)。

摘　　要：针对一类带有非重复不确定参数的线性离散系统跟踪批次变化的参考轨迹问题,提出一种双环控制结构的鲁棒间接型迭代学习控制(ILC)算法。通过在内环部分设计比例-积分(PI)型反馈控制器保证闭环系统沿时间轴方向的稳定性,实现前几批次对参考轨迹的快速跟踪。在外环部分,通过高阶内模(HOIM)描述参考轨迹变化规律,并设计一个基于内模原理的高阶比例(P)型ILC控制器提升系统在批次方向上对变参考轨迹的跟踪性能,实现对变化的参考轨迹精确跟踪。针对不确定性参数带来的扰动问题,设计一类性能指标函数,将系统模型在间接型ILC控制器作用下转换为等价的重复过程模型;基于重复过程模型稳定性理论,将保证系统具有沿批次鲁棒稳定的性能指标条件转换为线性矩阵不等式(LMI)。最后通过一类永磁电机的控制仿真验证了所提算法的有效性。For a class of discrete linear systems with non-repetitive uncertainties,a robust indirect-type Iterative Learning Control(ILC)algorithm based on dual-loop control structure was proposed to track the batch-varying trajectories.In the inner-loop,a Proportional-Integral(PI)type feedback controller was designed to ensure the stability of the closed-loop system along the time axis,realizing the fast tracking in the first few batches.In the outer-loop,a High-Order Internal Model(HOIM)was used to describe the pattern of varying trajectories,a HOIM based Proportional(P)type ILC controller was designed to improve the tracking performance along the batch axis,realizing the accurate tracking of the varying trajectories.For the disturbance caused by non-repetitive uncertainties,a performance criterion function was designed and the system model was transformed into a repetitive process model under the effect of the indirect-type ILC controller.Based on the stability theory of repetitive process model,the conditions of stability along the batch axis were transformed into Linear Matrix Inequality(LMI)conditions.Finally,the effectiveness of proposed algorithm was verified through the simulation of a class of permanent magnet motor.

关 键 词：迭代学习控制 高阶内模 变参考轨迹 鲁棒控制 重复过程模型 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]