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Control method and system for closed-loop iterative learning based on fractional calculus

A technology of fractional calculus and iterative learning control, which is applied in the field of closed-loop iterative learning control methods and systems, and can solve problems such as difficulty in implementing microprocessors and large amount of calculation of fractional calculus

Inactive Publication Date: 2020-10-30
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the large amount of calculation of fractional calculus, it is difficult to realize it by using DSP and other microprocessors in industrial control.

Method used

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  • Control method and system for closed-loop iterative learning based on fractional calculus
  • Control method and system for closed-loop iterative learning based on fractional calculus
  • Control method and system for closed-loop iterative learning based on fractional calculus

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Embodiment 1

[0076] see figure 1 , the technical solution of the present invention that is the embodiment of the present invention is the flow chart of the steps of the control method of closed-loop iterative learning based on fractional calculus, comprising the following steps:

[0077] S10, establishing a discrete fractional order closed-loop iterative learning controller, wherein the iterative learning control law adopts PD α Type iterative learning control law for position control;

[0078] S20, establish a permanent magnet synchronous motor position servo system based on vector control, and improve controller performance by combining fractional calculus, wherein the learning gain and fractional calculus factors are adjusted according to the dynamic performance and steady-state performance of the system;

[0079] S30, iteratively learning controller equivalent transformation for fractional calculus;

[0080] S40, the motor position control value u k (i) To prove the convergence, put...

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Abstract

The invention discloses a closed-loop iterative learning control method and system based on fractional calculus, and the method comprises the following steps: building a discrete fractional order closed-loop iterative learning controller, building a permanent magnet synchronous motor position servo system based on vector control, and carrying out equivalent transformation of the closed-loop iterative learning controller based on fractional calculus; respectively carrying out the comparison of iq and id with the values (shown in the description) to obtain difference values, and substituting thedifference values into a current regulator, and obtaining voltage controlled variables ud and uq through a current regulator; converting ud and uq into voltage control quantities u<alpha> and u<beta>in an alpha-beta coordinate system through PARK inverse transformation; generating a pulse modulation PWM signal according to u<alpha> and u<beta>, and controlling a three-phase inverter to generatea three-phase voltage signal through an SVPWM principle. The method has higher control precision, and meanwhile, the practicability and the accuracy are considered.

Description

technical field [0001] The invention belongs to the technical field of motor control, and relates to a closed-loop iterative learning control method and system based on fractional calculus. Background technique [0002] With the development of science and technology, servo motor control has been widely used in the field of industrial life, and its high-precision control has been widely studied. Existing control algorithms generally use PID, sliding mode, and adaptive control algorithms. These algorithms generally use a single feedback or feedforward technology. Although a single product can obtain satisfactory accuracy, in a complex objective environment, Uncertain disturbance factors are bound to affect the control system. [0003] Iterative learning control has been widely used to deal with dynamic systems with high degree of uncertainty in a simple way and requires less prior knowledge. It uses the data information in the previous control to find the appropriate control...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/22H02P6/34
CPCH02P6/34H02P21/22
Inventor 吕帅帅鄢毅心潘勉李训根史剑光彭时林刘敬彪
Owner HANGZHOU DIANZI UNIV
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