超声波电动机P与PI型迭代学习转速控制

P and PI Type Iterative Learning Speed Control of Ultrasonic Motor

相对简单的控制策略,能够降低超声波电动机系统的复杂性,提高性价比。迭代学习控制算法简单,根据较少的经验知识即可确定控制参数。针对超声波电动机的控制特点,改进了迭代学习控制算法,设计了电机转速迭代学习控制策略。实验表明,电机系统具有较好的迭代学习能力,控制效果在重复学习过程中渐进改善,控制策略简单有效。

Relatively simple control strategy can decrease the complexity of the ultrasonic motor system, and increase the ratio of performance to cost. The algorithm of iterative learning control is simple, and its control parameters can be de- termined using little experimental knowledge. According to the particular control characteristics of ultrasonic motor, the it- erative learning control strategy was improved and speed controller was designed. Experiments show that the motor system has good iterative learning capacity. The control performance is improved continuously in the repeated learning process. The control strategy is simple and effective.