基于迭代学习的电动直线加载复合控制

Multi Closed-up Compound Control for Electric Linear Loading System Based on Fractional Order Iterative Learning

为测试某型航天用电动伺服机构的实际工作性能,设计一种以大导程精密滚珠丝杠副为力矩/力转换元件的电动直线加载系统。为克服电动直线加载系统多余力扰动问题,提出一种引入角速度前馈补偿、串入电流内环和位置内环的多闭环复合控制策略;采用一种以分数阶PIλDμ控制器作为力外环的反馈控制、分数阶迭代学习控制(FO-ILC)作为补偿控制的方法。直线加载仿真实验和多余力抑制仿真实验表明,所提控制策略较好地抑制了直线加载多余力。

To test the practical performance of a certain type of electric servo mechanism in space application,an electric linear loading system was designed with high lead precision ball screw pair for torque/force conversion element.To overcome the disturbance of surplus torque in the electric linear loading system,a multi closed-loop compound control strategy with the angular velocity feed-forward compensation,current inner closed-loop and position inner closed-loop was proposed.A control method with fractional order PIλDμcontroller as the feedback control of force outer loop,fractional order iterative learning control as compensation control was proposed.Experiments on the loading force with sinusoidal and trapezoidal wave force and testing of the surplus torque suppression were performed.The simulation results prove that the controllers are effective in achieving a better force tracking and restraining the surplus torque for the electric linear loading system.