摘要
超声波电机的运行过程具有明显的非线性特征,影响电机控制精度。超声波电机Hammerstein模型中的非线性环节,反映了电机控制关系中非线性的主要特征。通过求取模型非线性环节的逆函数,实现对控制非线性的有效补偿,简化控制器设计,有利于提高控制性能。基于非线性逆补偿,给出一种迭代学习转速控制方法,并进行实验研究。实验表明了所述非线性逆补偿及控制方法的有效性。
The operation process of ultrasonic motor has obvious nonlinear characteristics,which affects the control accuracy of the motor.The nonlinear part in the Hammerstein model of ultrasonic motor reflects the main characteristics of nonlinearity in the control relationship of the motor.By obtaining the inverse function of the nonlinear part of the model,the effective compensation for the control nonlinearity was realized,and the controller design was simplified,which was beneficial to improve the control performance.Based on inverse compensation of the nonlinearity,one iterative learning speed control method was presented and studied experimentally.Experiments show the effectiveness of the nonlinear inverse compensation and control method.
作者
宋璐
史敬灼
黄文文
SONG Lu;SHI Jingzhuo;HUANG Wenwen(Henan University of Science and Technology,Luoyang Henan 471023,China)
出处
《微电机》
北大核心
2020年第6期68-71,共4页
Micromotors
基金
国家自然科学基金(U1304501)。
关键词
超声波电机
转速控制
非线性补偿
迭代学习控制
ultrasonic motor
speed control
nonlinear compensation
iterative learning control
