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Motor control method based on iterative learning adaptive MIT controller

A technology of iterative learning and iterative control, applied in the field of motor control based on iterative learning adaptive MIT controller, to achieve the effect of changing dynamic performance, maintaining system stability and maintaining independence

Inactive Publication Date: 2021-10-01
HENAN UNIV OF SCI & TECH
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  • Application Information

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Problems solved by technology

[0007] The present invention provides a motor control method based on iterative learning adaptive MIT controller to solve the problem of how to ensure the dynamic performance of the motor control system without increasing the control complexity

Method used

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  • Motor control method based on iterative learning adaptive MIT controller
  • Motor control method based on iterative learning adaptive MIT controller
  • Motor control method based on iterative learning adaptive MIT controller

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Embodiment Construction

[0032] The basic idea of ​​the present invention is: the present invention borrows the idea of ​​iterative learning control, combines the iterative learning controller and the MIT controller, and uses the iterative learning controller to automatically adjust the adaptive gain μ in the MIT adaptive law online, so as to compare A small design and implementation complexity cost is exchanged for a significant increase in the performance of the MIT controller.

[0033] A motor control method based on iterative learning adaptive MIT controller of the present invention will be described in detail below with reference to the drawings and embodiments.

[0034] Method example:

[0035] An embodiment of a motor control method based on iterative learning adaptive MIT controller of the present invention, the control block diagram of the closed-loop control system of the speed of the ultrasonic motor realized by combining the iterative learning controller and the MIT controller is as follow...

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Abstract

The invention belongs to the technical field of motor control, and particularly relates to a motor control method based on an iterative learning adaptive MIT controller. According to the invention, closed-loop control is carried out on the rotating speed of the motor by using the iterative learning adaptive MIT controller, wherein the iterative learning self-adaptive MIT controller comprises an MIT controller and an iterative learning controller, and the iterative learning controller calculates the rotating speed error value in the previous iterative control process and the output value of the iterative learning controller in the previous iterative control process according to the rotating speed error value in the previous iterative control process and the output value of the iterative learning controller in the previous iterative control process; and the adaptive gain included in the MIT adaptive law of the adjustable gain of the MIT controller is automatically adjusted in the current iterative control process. According to the method, the independence of the MIT controller design and the system stability can be kept, and the dynamic performance of the system can be obviously changed by the memory-based iterative learning process, so that the dynamic characteristics of the system are greatly corrected, and the system performance conforms to an expected state.

Description

technical field [0001] The invention belongs to the technical field of motor control, and in particular relates to a motor control method based on an iterative learning adaptive MIT controller. Background technique [0002] Due to its compact structure, easy miniaturization, fast response braking, good control characteristics, high positioning accuracy, low noise and other advantages, ultrasonic motors have been widely used in high-tech fields such as aviation, aerospace, medical treatment, and precision instruments. Scenario and use value. [0003] The special operating mechanism of the ultrasonic motor makes its operating characteristics show obvious nonlinear and time-varying characteristics, and it is difficult to obtain ideal control performance. In order to overcome these shortcomings of the ultrasonic motor itself, and strive to obtain the control performance and operational stability that meet the application expectations, the research on its control strategy gradua...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 史敬灼徐丹旸刘姝贝李菁周星龙
Owner HENAN UNIV OF SCI & TECH
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