基于MEMD的双轴直线电机平台迭代学习控制  

Iterative Learning Control of Dual-Axis Linear Motor Platform Based on Modified Empirical Mode Decomposition

作　　者：刘思诺 蔡昌友[1] 武志涛[1] LIU Sinuo;CAI Changyou;WU Zhitao(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,鞍山114051

出　　处：《组合机床与自动化加工技术》2024年第9期123-127,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(61903169)。

摘　　要：针对双轴直线电机平台交叉耦合迭代学习控制系统中的轮廓误差积累问题,提出了一种改进经验模态分解算法的控制策略。首先,设计单轴的PDFF位置控制器,以满足PMLSM的高精度定位需求;其次,设计了一种具备自适应调节特性的PD型交叉耦合迭代学习控制器;此外,针对经验模态分解算法的端点效应以及模态混叠问题,提出了一种基于交互直线延拓与互补集合经验模态分解的新型改进算法。该算法可以将各次迭代的轮廓误差进行分解,并剔除影响误差收敛的分量。经过仿真分析,对比传统迭代学习控制,所提方法具有更快的收敛速度,能够以较少的迭代次数实现双轴直线电机平台的高精度轮廓跟踪控制。In response to the issue of contour error accumulation in the iterative learning control system for a dual-axis linear motor platform with cross-coupling,a control strategy of modified empirical mode decomposition algorithm is proposed in this paper.Firstly,a single-axis PDFF position controller is designed to meet the high precision positioning requirements of PMLSM.Secondly,a self-adaptive PD-type cross-coupled iterative learning controller is designed,which possesses the characteristic of adaptive adjustment.Besides,in response to solve the endpoint effect and mode mixing problem for EMD algorithm,a novel improved algorithm based on interactive linear continuation and complementary ensemble empirical mode decomposition is proposed.This algorithm can decompose the contour errors of each iteration and eliminate the components that affect error convergence.Through simulation analysis and a comparison with the traditional iterative learning control,the paper demonstrates that the proposed method exhibits faster convergence speed and can achieve high-precision contour tracking control of linear motors with fewer iterations.

关 键 词：双轴直线电机平台 轮廓误差 迭代学习 交互直线延拓 互补集合 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]