|
标题：超声波电机非线性正割迭代学习位置控制 |
|
作者：史敬灼，尹振东 |
|
| 2017年第7期 访问次数：317次 |
|
摘要：将非线性正割迭代学习控制策略用于超声波电机位置控制，并对其进行了适合于超声波电机时变、非线性运行特点的改进。采用蘑菇繁殖优化算法，以获得期望控制性能为目的，确定了非线性正割迭代学习位置控制器的控制参数。研究结果表明，非线性正割迭代学习控制策略适用于超声波电机运动控制，控制效果较好，且控制算法复杂度较低。
关键词：超声波电机；位置控制；迭代学习；非线性正割
Abstract: The nonlinear secant iterative learning control strategy was used for ultrasonic motor position control and was improved to adapt to the time-varing and nonlinear characteristics of USM. To get the desired performance, the writer determined the control parameter of nonlinear secant iterative learning position controller used the mushroom propagate optimization algorithm. The results prove that the nonlinear secant iterative learning control strategy which with good performance and low complexity of control strategy is suitable for the motion control system of ultrasonic motor.
Key words: ultrasonic motor； position control；iterative learning；nonlinear secant |
|
| |
|
