直线电动机迭代学习控制方法的仿真研究

Simulation study of iterative learning control method in linear motor

直线电动机是一种多变量、非线性的控制系统,采用经典的PID控制难以得到满意的控制效果,为此设计一个基于前馈辅助PID控制器的神经网络(PIDNN)控制系统.该控制系统的结构主要由一个反馈和一个前馈构成,反馈是PID控制,为系统提供稳定性;前馈为ILC控制,作为对系统的非线性、未知的动力和扰动的前馈补偿.在Matlab环境下,对所提出的方案进行了仿真实验,并与传统PID进行比较.结果表明,该方案能够有效地提高系统的速度和位置的跟踪性能,并验证了采用智能前馈控制的优势.该系统适合应用于大量重复的运动轨迹系统.

As linear motor is a multi-variable and non-linear system,using conventional PID control can not obtain satisfied control effect.Therefore a PID neural network controller（PIDNN） based on the feed forward is designed.The control system mainly consists of a feedback and a feed forward structure.The feedback is a PID control,which can ensure stability of the system;the feed forward is an ILC control,which can provide the feed forward compensation for nonlinear and unknown power and disturbance of the system.In Matlab environment,simulation are performed to verify the proposed strategy,and the simulation results are compared with conventional PID.The results demonstrate that the proposed strategy is able to improve the performance of the system on tracking the speed and position,and also validate the advantage of using intelligent feed forward control.It can be adapted to apply in the system with a mass of duplicate motion trajectories.