分数线性相位超前迭代学习控制.PDF

30 7 Vol. 30 No. 7 2013 7 Control Theory Applications Jul. 2013 DOI: 10.7641/CTA.2013.20978 , , ( , 210016) : , . . , , . , . , . . : ; ; ; ; : TP273 : A Fractional linear phase-lead iterative learning control PAN Xue, YE Yong-qiang , WANG Jian-hong (College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing Jiangsu 210016, China.) Abstract: Because the number of lead steps in a linear phase-lead iterative learning control must be an integer which hampers the optimization of a control system, we propose a fractional linear phase-lead iterative learning control method. The range of the lead step, the learning gain, and the learnable band can be calculated by analyzing the convergence condi- tion in the frequency domain. By adjusting the number of lead steps, we can achieve a wider learnable band and a higher tracking accuracy. The detailed realization of the fractional lead is introduced, and the comparison of the compensation effects between it and the integer lead is given. A comparison simulation in controlling a robot arm-joint is carried out. The results show that the fractional linear phase-lead iterative learning control provides wider learnable band and higher tracking accuracy. Key words: iterative learning control; fractional linear phase-lead; frequency domain analysis; lead step; tracking 1 (Introduction) (linear phase-lead iterative learning Uchiyama [1]1978 control, LPLILC). (iterative learning control, ILC). , , . 1984 , , [2] [3] [4]