关键词: 参数辨识, 迭代学习, 运动控制, 正交投影

Abstract: The purpose of this study is to present the algorithm of the model parameter identification of the motion control system with high frequency and fast response. A linear matrix transform equation of model parameter to system error is established. The method of the orthogonal vector projection analysis is introduced and the linear matrix transform equation is projected into the orthogonal vector space. The model parameter is identified along the axes of the space vector basis by the iterative learning method. The iterative learning rate is designed and the convergence analysis is carried out. The results of simulation and experiments show that the proposed method can significantly improve the position tracking precision and response speed of the linear servo system in the state of accelerated or decelerated motion. At the same time, the settling time is shortened and the high speed and high precision requirements are achieved.

Key words: iterative learning, motion control, orthogonal projection, parameter identification