• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2015, Vol. 51 ›› Issue (1): 188-195.doi: 10.3901/JME.2015.01.188

• 数字化设计与制造 • 上一篇    下一篇

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基于正交投影迭代学习的高频响闭环运动控制系统模型参数辨识研究

杨亮亮1,2, 武晓虎1,2, 史伟民1,2, 彭来湖1,2   

  1. 1. 浙江理工大学浙江省现代纺织装备技术重点实验室 杭州 310018;2. 浙江理工大学教育部现代纺织装备技术工程研究中心 杭州 310018
  • 出版日期:2015-01-05 发布日期:2015-01-05
  • 作者简介:杨亮亮,男,1978年出生,博士,讲师。主要研究方向为高速高精运动控制技。
  • 基金资助:
    国家自然科学基金(51305404)、国家科技支撑计划(2013BAF05B01)和浙江理工大学重点实验室优秀青年人才培养基金(ZSTUMD2012B004)资助项目

Research on Model Parameters Identification of Closed-loop High Frequency Motion Control System Based on Iterative Learning of Orthogonal Projection

YANG Liangliang 1,2, WU Xiaohu 1,2, SHI Weimin 1,2, PENG Laihu 1,2   

  1. 1. Zhejiang Provincial Key Lab of Modern Textile Machinery & Technology, ZheJiang Sci-Tech University, Hangzhou 310018;
    2. The Research Center of Modern Textile Machinery Technology of Ministry of Education, Zhejiang Sci-Tech University, Hangzhou 310018
  • Online:2015-01-05 Published:2015-01-05

摘要: 针对高速高精运动控制系统模型参数辨识问题,建立模型参数到误差的线性矩阵变换等式,引入正交矢量投影分析方法,将模型参数到误差的线性矩阵变换等式在正交矢量空间中进行投影,采用迭代学习方法沿空间矢量基方向进行参数迭代辨识,设计迭代学习率并进行收敛性分析。仿真与试验结果表明,该方法能显著提高直线伺服系统在加减速段的位置跟踪精度及响应性能,减少调节时间,满足其高速高精的要求。

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

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