零相位跟踪预测自学习复合运动控制系统研究

Study on Complex Motion Control System Combining Zero Phase Error Tracking Control and Forecast Self-learning Control

提出了一种结合了零相位跟踪控制与预测自学习控制的零相位跟踪预测自学习复合控制方案,并将它在运动控制系统中进行了实验研究,结果表明,对于周期性的位置指令信号输入,这种控制系统能够从第一个指令周期开始就具有比较小的跟踪误差,而且误差还会周期性减小,具有比单独的零相位跟踪控制或者预测自学习控制更好的控制性能。

A complex control system combining zero phase error tracking control and forecast self-learning control is proposed in this paper.Through the result of experiment in motion control system,it is shown that to periodic input signal,the tracking error is periodicity decreasing from the first period,so the control system has better performance than independent zero phase error tracking control or forecast self learning control.