基于迭代学习算法的转台精确定位控制研究

Study on Turntable Precise Positioning Control Based on Iterative Learning Strategy

针对某小口径炮弹底火拧紧设备的物流装置—六工位旋转工作台的定位过程存在快速性、稳态精度与稳定性相互制约的问题,提出了一种基于闭环PID型迭代学习算法的六工位转台定位控制方法。该方法基于某小口径炮弹底火拧紧设备,对其六工位转台被控对象进行了系统辨识,结合辨识的结果,具体设计了一种基于闭环PID迭代学习算法的转台定位控制方法,并进行了转台定位控制试验。试验结果表明:该方法实现了转台的快速准确定位,已成功使用在该小口径炮弹底火拧紧设备的转台定位过程中。

Aiming at the positioning of a certain type six station turntable which is used as a logistics system of a primer tightening device existing the problem of rapid, steady precision and stability mutual restraint, the author proposed a turntable positioning control method based on the closed-loop PID iterative learning control strategy. The method based on a primer tightening device, completed the system identification of the turntable system controlled object, combined with the system identification results, designed a turntable control strategy which is based on the closed-loop PID iterative learning control algorithm, and completed the turntable positioning control test. The results showed that the method in this paper has achieved fast and accurate positioning of the turntable, and has been successfully used in the positioning of a six station turntable of the primer tightening device.