Abstract：In the process of iterative learning control(ILC) for permanent magnet linear synchronous motors(PMLSM),due to the disturbances and time delay,the system might be unstable,the error is difficult to converge,and the tracking precision is reduced.A robust ILC scheme based on the Smith predictor and the performance weighting function is proposed.In the case that the precise mathematical model of PMLSM is unwanted,the combination of the Smith predictor and ILC decreases the influence of time delay on the system tracking performance.Then it can avoid the instability of the system in the iterative process caused by the accumulation of time delay.Due to these uncertain factors of the external disturbance,parameters change,and end effect etc.,the scheme makes full use of the information of the performance weighting function to design the feedback controller.In the case of fulfilling robust convergence condition,it can make the position error converge to the desired value.The experimental results indicate that the proposed control scheme improves the position tracking accuracy of the PMLSM servo system and enhances the robustness of the system.
赵希梅,马志军,朱国昕. 基于Smith预估和性能加权函数的永磁直线同步电机鲁棒迭代学习控制[J]. 电工技术学报, 2016, 31(19): 141-146.
Zhao Ximei, Ma Zhijun ,Zhu Guoxin. Robust Iterative Learning Control for PMLSM Based on Smith Predictor and Performance Weighting Function. Transactions of China Electrotechnical Society, 2016, 31(19): 141-146.
[1] 夏加宽,沈丽,彭兵,等.磁极错位削弱永磁直线伺服电动机齿槽法向力波动方法[J].电工技术学报,2015,30(24):11-16. Xia Jiakuan,Shen Li,Peng Bing,et al.The magnet-staggered method to weaken the cogging effect normal force ripple of permanent magnet linear servo motor[J].Transactions of China Electrotechnical Society,2015,30(24):11-16. [2] 杨俊友,刘永恒,白殿春,等.基于迭代学习与小波滤波器的永磁直线伺服系统扰动抑制[J].电工技术学报,2013,28(3):87-92. Yang Junyou,Liu Yongheng,Bai Dianchun,et al.Disturbance rejection for PMLSM based on iterative learning control and wavelet filter[J].Transactions of China Electrotechnical Society,2013,28(3):87-92. [3] 寇宝泉,张赫,郭守仑,等.辅助极一体式永磁同步直线电机端部定位力抑制技术[J].电工技术学报,2015,30(6):106-113. Kou Baoquan,Zhang He,Guo Shoulun,et al.End effect detent force reduction for permanent magnet linear synchronous motors with auxiliary poles one-piece structure[J].Transactions of China Electrotechnical Society,2015,30(6):106-113. [4] 韩雪岩,祁坤,张哲,等.永磁同步直线电机磁阻力分析及抑制措施[J].电工技术学报,2015,30(6):70-76. Han Xueyan,Qi Kun,Zhang Zhe,et al.Analysis and suppression measures of magnetic resistance force in permanent magnet linear synchronous motors[J].Transactions of China Electrotechnical Society,2015,30(6):70-76. [5] Butcher M,Karimi A,Longcham P R.A statistical analysis of certain iterative learning control algorithms[J].International Journal of Control,2008,81(1):156-166. [6] Meng D,Jia Y,Du J,et al.Learning control for time-delay systems with iteration-varying uncertainty:a smith predictor-based approach[J].IET Control Theory and Applications,2010,4(12):2707-2718. [7] Ma Hang,Yang Song,Yang Jungou,et al.Two-band filter compensation using lead phase iterative learning control with time window for PMLSM[C]//IEEE Conference on Industrial Electronics and Applications,Beijing,2011:737-742. [8] 郭庆鼎,王成元,周美文,等.直线交流伺服系统的精密控制技术[M].北京:机械工业出版社,2000. [9] Teo C S,Tan K K,Lim S Y.Dynamic geometric compensation for gantry stage using iterative learning control[J].IEEE Transactions on Instrumentation and Measurement,2008,57(2):413-419. [10]李兵强,吴春,林辉.基于参考输入学习的永磁同步电机高精度位置伺服系统[J].中国电机工程学报,2012,32(3):96-102. Li Bingqiang,Wu Chun,Lin Hui.A high-precision position servo system of permanent magnet synchronous motors with reference input iterative learning[J].Proceedings of the CSEE,2012,32(3):96-102. [11]Wu J,Xiong Z,Lee K M,et al.High-acceleration precision point-to-point motion control with look-ahead properties[J].IEEE Transactions on Industrial Electronics,2011,58(9):4343-4352. [12]Tayebi A,Abdul S,Zaremba M B,et al.Robust iterative learning control design:application to a robot manipulator[J].IEEE/ASME Transactions on Mechatronics,2008,13(5):608-613. [13]Barahariov N,Ortega R.Necessary and sufficient conditions for passivity of the LuGre friction model[J].IEEE Transactions on Automatic Control,2000,45(4):830-832. [14]Doh T Y,Ryoo J R,Chang D E.Robust iterative learning controller design using the performance weighting function of feedback control systems[J].International Journal of Control,Automation,and Systems,2014,12(1):63-70.
2016, Vol. 31 
