• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2002, Vol. 38 ›› Issue (1): 42-46.

• 论文 • 上一篇    下一篇

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渐变类周期轨迹的迭代学习控制研究

王大庆;丁崇生;葛思华   

  1. 西安交通大学机械工程学院
  • 发布日期:2002-01-15

RESEARCH ON ITERATIVE LEARNING CONTROL FOR SLOW VARYING AND REPETITIVE-LIKE TRACE TRACKING

Wang Daqing;Ding Chongsheng;Ge Sihua   

  1. Xi’an Jiaotong University
  • Published:2002-01-15

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摘要： 针对一类具有渐变特性的、在很大程度上具有重复性特点的轨迹的跟踪问题，提出了一种改进的迭代学习控制策略，并给出了理论上收敛性与稳定性的证明，进行了对算法的试验研究。理论和试验证明，该算法在要求的精度范围内拓展对初值与轨迹的完全重复性要求，并且是稳定和收敛的；用于加工中可以获得较高的跟踪精度。

关键词: 迭代学习控制, 非圆加工, 重复性

Abstract: An improved iterative learning control algorithm for tracking slow varying and repetitive trajectory is proposed. The mathematical analyses for stability and convergence of the algorithm are also given. In addition, the experiment applying the presented algorithm on a complex trace tracking is processed. The theoretical analyses and experiment results show that the restricts on repetitive requirement for trajectory and initial condition as well as system dynamics are capable of being loosened at a certain accuracy requirement, and the system stability is still acquisitive. High accuracy is also achievable in machining.

Key words: Iterative learning control, Non-circular machining, Repetitiveness

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