迭代学习控制的改进及其应用机械电子工程专业论文.docxVIP

汕头大学硕士学位论文 汕头大学硕士学位论文 III III application examples of iterative learning in industrial robot such as a commercial laser cutting made by ABB. There are many inadequacies in robot applications of the traditional law. Therefore it is necessary to study the new law of learning algorithms in the industrial robot system. The applied research of Iterative Learning Control in robot control has a lot of achievements, but there is few applied research in the field of the other industrial control, and the development and growth of the iterative learning control cannot be separated from its extension to apply in other field, this thesis based on this idea, and at last research and discussion the application of the zero-speed splicers tension control system. Keywords: iterative learning control, tension control, industrial robots, zero-speed splicers 汕头大学学位论文 汕头大学学位论文 I I 目录 摘要 I Abstract II HYPERLINK \l _bookmark0 第一章 绪论 1 HYPERLINK \l _bookmark1 1.1 迭代学习控制概述1 HYPERLINK \l _bookmark2 1.2 迭代学习控制的基本数学描述3 HYPERLINK \l _bookmark3 1.3 迭代学习控制理论的研究内容及发展现状 5 HYPERLINK \l _bookmark4 1.3.1 学习律的研究5 HYPERLINK \l _bookmark5 1.3.2 初值问题的研究7 HYPERLINK \l _bookmark6 1.3.3 稳定性与鲁棒性9 HYPERLINK \l _bookmark7 1.4 迭代学习控制在工业上的应用9 HYPERLINK \l _bookmark8 1.5 本文研究内容10 HYPERLINK \l _bookmark8 第二章 迭代学习控制算法的改进及其收敛性分析 10 HYPERLINK \l _bookmark9 2.1 引言11 HYPERLINK \l _bookmark10 2.2 D 型迭代学习控制 11 HYPERLINK \l _bookmark11 2.2.1 问题描述11 HYPERLINK \l _bookmark12 2.2.2 实例仿真14 HYPERLINK \l _bookmark13 2.3 P 型迭代学习控制 18 HYPERLINK \l _bookmark14 2.3.1 问题描述18 HYPERLINK \l _bookmark15 2.3.2 实例仿真19 HYPERLINK \l _bookmark16 2.4 PD 型迭代学习控制 20 HYPERLINK \l _bookmark17 2.4.1 控制算法的描述20 HYPERLINK \l _bookmark18 2.4.2 实例仿真21 HYPERLINK \l _bookmark19 2.5 迭代学习算法的改进24 HYPERLINK \l _bookmark20 2.5.1 问题描述24 HYPERLINK \l _bookmark21 2.5.2 新算法的收敛性分析25 HYPERLINK \l _bookmark22 2.5.3 仿真实例27 HYPERLINK \l _bookmark23 2.6 小结28 HYPERLINK \l _bookmark24 第三章 基于几何分析的迭代学习控制算法改进 29 HYPERLINK \l _book