Research on Vibration Suppression of Linear Servo System Based on Optimal Control Iterative Learning

doi:10.3901/JME.2019.15.217

Abstract

Abstract: In the process of high-speed motion, linear servo system will produce significant oscillation due to its inherent natural vibration mode and affect its trajectory tracking performance. Based on the feedforward and feedback two-degree-of-freedom control strategy, this paper adds an iterative learning control algorithm based on the stable feedback controller, and analyzes the stability and convergence of the iterative learning control algorithm. At the same time,the Lagrangian is introduced under the condition that the iterative step size is constrained by the optimal control theory,which not only enhanced the robustness of the algorithm, but also improves the flexibility of the algorithm for adjusting the convergence speed. Finally,a controller based on optimal control iterative learning is designed. The simulation and experimental results show that the algorithm of optimal control iterative learning is added to the feedforward and feedback two-degree-of-freedom control, which can effectively suppress the vibration phenomenon generated by the linear servo system during high-speed operation. Significant, thereby improving the tracking performance of the overall trajectory.

Key words: iterative learning, Lagrangian, linear servo system, optimal control

CLC Number:

YANG Liangliang, WANG Jie, WANG Fei, SHI Weimin. Research on Vibration Suppression of Linear Servo System Based on Optimal Control Iterative Learning[J]. Journal of Mechanical Engineering, 2019, 55(15): 217-225.

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