XY平台的迭代学习控制初次控制信号选定

Determining initial control signal in iterative learning control for XY tables

当XY运动平台当前期望轨迹与以往轨迹基元的组合相似时,本文提出如何选定迭代学习控制过程的初次控制信号.首先依次提取各个相似轨迹基元的控制信号,对它们进行相应的旋转和平移变换,并在前后轨迹基元拼接处采用线性插值算法进行控制信号无扰切换,从而获得当前操作的迭代学习控制的初次迭代控制信号;最后通过仿真实例验证了所提方法的有效性.

When the current desired trajectory is similar to a trajectory formed by matching and combining former trajectory primitives,we put forward a method for determining the initial control signal in the iterative learning control.Firstly,we subsequently extract from the data base the control signals of corresponding trajectory primitives,and then transform each control signal by rotation and translation.The linear interpolation method is applied to join the corresponding control signals of neighboring trajectory primitives to produce the joined trajectory smooth and without interruption in the transition zone.Thus,the initial control signal in the iterative learning control for the current desired trajectory is determined.The proposed method is validated by a simulation example based on the XY motion platform.