Identification and Optimization of Linear Servo System Controller Parameters Based on Iterative Learning of Orthogonal Projection

Abstract

Abstract:

According to the problem of feedforword parameter identification in linear servo system with high frequency response, a method of orthogonal projection was introduced. At first, orthogonalized basis functions were constructed and the control system was projected onto the axes of the basis functions,then system parameters were identified along the axes of basis functions by iterative learning and high speed response were compensated by feedforword.The method extends the iterative learning from time domain to the space of orthogonalized basis functions. The simulation and experements show this method can improve the tracking and high-response performance of linear servo system significantly and meet the high speed and high precision requrements.

Key words: linear drive, orthogonal projection, iterative learning, parameter identification

摘要：

针对高频响直线伺服系统前馈控制器参数的辨识问题，引入正交矢量投影的分析方法构建正交矢量基函数，将控制模型在基函数所构建的正交矢量空间中进行投影，采用迭代学习方法沿基函数轴方向进行前馈控制器参数迭代辨识并通过前馈进行补偿，将迭代学习控制方法从时域辨识拓展到正交矢量基函数空间领域。仿真与实验结果表明，该方法显著提高了直线伺服系统的位置跟踪精度和高速响应性能，满足高速高精度的要求。

关键词: 直线驱动, 正交投影, 迭代学习, 参数辨识

CLC Number:

Yang Liangliang, Shi Weimin, Liu Yisheng, Zhou Yunfei. Identification and Optimization of Linear Servo System Controller Parameters Based on Iterative Learning of Orthogonal Projection[J]. China Mechanical Engineering, 2015, 26(1): 79-85.

杨亮亮, 史伟民, 刘宜胜, 周云飞. 直线伺服系统正交投影迭代学习控制器参数辨识与优化[J]. 中国机械工程, 2015, 26(1): 79-85.

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