摘要:超声波电机具有明显的非线性和时变特性。为得到良好的运动控制效果,通常会采用复杂的控制算法,从而增加了系统复杂度并导致硬件成本增加。本文尝试采用计算复杂度相对较低的迭代学习控制策略进行超声波电机转速控制,改进了正割迭代学习转速控制算法。实验表明,所提控制策略有效,控制效果较好。
关键词:超声波电机;转速控制;非线性迭代学习;正割迭代学习 Abstract: Ultrasonic motor has obvious nonlinear and time-varying characteristics. Complex control algorithms are usually used to get good control performance, which increasing the complexity of the system and lead to high hardware costs. This paper attempted to adopt the iterative learning control strategy which had relatively low computational complexity for ultrasonic motor speed control.The secant iterative learning algorithm was improved to control speed. Experiments show that the proposed control strategy is effective, and the control effect is better.
Key words: ultrasonic motor;speed control;nonlinear iterative learning;secant iterative learning
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