摘要
对于具有重复运动性质的对象,迭代学习控制是一种有效的控制方法。针对具有可重复输出扰动和初值偏差的一类非线性含有状态和控制时滞系统,鉴于闭环算法往往比开环算法具有更好的稳定性和更强的鲁棒性,为此闭环和开环相结合的算法研究具有更广泛的意义。提出了一种开闭环PD型迭代学习控制律,最后通过与开环PD型迭代学习律作对比来进行仿真验证,仿真结果验证了算法的有效性。
For repetitive movements of the objects,iterative learning control is an positive and effective control method.This dissertation mainly studies a class of nonlinear systems with initial deviation,state and control time delay and repetitive output disturbance based on PD-type iterative learning control algorithm.Considering close-loop algorithm＇ stability and robustness is pretty better than open-loop algorithm＇s,combining the two algorithms has a wider significance,so a kind of open-closed-loop PD-type iterative learning control algorithm was proposed.The open-closed-loop PD-type learning algorithm and open-loop algorithm are applied respectively to simulation.The results of simulation prove that ILC algorithm can obtain a better control effect.
出处
《科学技术与工程》
2011年第27期6648-6651,共4页
Science Technology and Engineering
关键词
时滞系统
迭代学习控制
数值仿真
systems with delay iterative learning control numerical simulations
