摘要
针对伺服电机驱动的连铸结晶器振动位移系统中存在电机单方向转动约束、周期性时变负载扰动、减速比加工误差等问题,采用一种前馈+迭代学习控制(ILC)的复合控制策略。通过机理分析给出伺服电机的期望转速作为前馈控制量,再利用结晶器振动位移跟踪误差信号设计带遗忘因子的迭代学习控制器。理论分析表明所设计的迭代学习控制器能够使系统跟踪误差收敛到原点附近的邻域内。最后,通过仿真和实验分析不同遗忘因子取值对系统控制性能的影响,结果表明,当采用负指数的变遗忘因子时,比固定遗忘因子时的跟踪精度更高,比无遗忘因子时的收敛速度更快。
A compound control method combining feedforward with iterative learning control(ILC)is used for the vibration displacement system of continuous casting mold driven by servo motor in presence of single direction rotation constraint of motor,periodic time-varying load disturbance and reduction ratio machining error.The feedforward control law was derived by mechanism analysis,which is the expected speed of servo motor,and the iterative learning controller with forgetting factor was designed by using the displacement tracking error of the continuous casting mold.It is proved that the proposed ILC method can drive the tracking error converging to the neighborhood of the origin.Finally,the simulation and experiment were carried out and the influence of the different forgetting factors on the control performance was analyzed.The results show that the tracking accuracy is higher than that of fixed forgetting factors and the convergence speed is faster than that of no forgetting factors when using the variable forgetting factor with negative index.
作者
方一鸣
张文健
李建雄
马壮
FANG Yi-ming;ZHANG Wen-jian;LI Jian-xiong;MA Zhuang(Key Laboratory of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004,China;Engineering Research Center of the Education Ministry for Intelligent Control System and Intelligent Equipment,Yanshan University,Qinhuangdao 066004,China)
出处
《电机与控制学报》
EI
CSCD
北大核心
2020年第12期130-141,共12页
Electric Machines and Control
基金
国家自然科学基金面上项目(61873226)
河北省自然科学基金(F2017203304)
河北省人才工程培养经费资助科研项目(A2016015002)。
关键词
伺服电机驱动
连铸结晶器
振动位移系统
迭代学习控制
前馈控制
遗忘因子
driven by a servo motor
continuous casting mold
vibration displacement system
iterative learning control
feedforward control
forgetting factor
