摘要：为了解决永磁同步电机位置伺服系统中的高阶非线性、强耦合性以及外部干扰，从而获得期望的跟踪精度，根据永磁同步电机位置伺服系统模型的特殊性提出了一种改进型迭代学习控制方法。有别于传统迭代学习控制方法中对系统误差求一阶导数，改进型迭代学习控制算法对误差求二阶导数后，设计D-型迭代学习控制策略，利用数学知识严格证明了算法收敛性，并推导出其收敛条件。算法解决了传统控制难以实现高精度永磁同步电机位置伺服的问题，利用迭代学习控制策略，使得系统能够达到期望的跟踪精度。仿真和实验结果表明了该算法的有效性。相较于传统方法，迭代学习控制策略误差更小，精度更高。
关键词：迭代学习控制；高精度；永磁同步电机；位置伺服

Abstract: To overcome the higher order nonlinearity, strongcoupling and unknown external disturbance for permanent magnet synchronous motor position servo system, a novel iterative learning control method was proposed according to the particularity of the model of the permanent magnet synchronous motor position servo system. A Dtype iterative learning law was designed by using the second derivative of the error. The convergence condition of the algorithm was derived by using mathematical knowledge. The simulation and experimental results show that the iterative learning control strategy has a higher accuracy compared with the traditional method.
Key words: iterative learning control; high precision; permanent magnet synchronous motor; position servo system