| 引用本文: | 朱自立,徐建明,孙明轩,臧永灿.XY 平台的迭代学习控制初次控制信号选定[J].控制理论与应用,2016,33(4):535~541.[点击复制] |
| ZHU Zi-li,XU Jian-ming,Sun Ming-xuan,Zang Yong-can.Determining initial control signal in iterative learning control for XY tables[J].Control Theory and Technology,2016,33(4):535~541.[点击复制] |
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| XY 平台的迭代学习控制初次控制信号选定 |
| Determining initial control signal in iterative learning control for XY tables |
| 摘要点击 2853 全文点击 2077 投稿时间：2015-04-20 修订日期：2015-12-08 |
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| DOI编号 10.7641/CTA.2016.50320 |
| 2016,33(4):535-541 |
| 中文关键词 迭代学习控制 轨迹基元 初次迭代控制信号 XY 平台 |
| 英文关键词 iterative learning control trajectory primitive initial iterative control signal XY table |
| 基金项目 国家自然科学基金项目(61374103), 浙江省自然科学基金项目(LY13F030009)资助. |
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| 中文摘要 |
| 当XY 运动平台当前期望轨迹与以往轨迹基元的组合相似时, 本文提出如何选定迭代学习控制过程的初次
控制信号. 首先依次提取各个相似轨迹基元的控制信号, 对它们进行相应的旋转和平移变换, 并在前后轨迹基元拼
接处采用线性插值算法进行控制信号无扰切换, 从而获得当前操作的迭代学习控制的初次迭代控制信号; 最后通
过仿真实例验证了所提方法的有效性. |
| 英文摘要 |
| When the current desired trajectory is similar to a trajectory formed by matching and combining former trajectory
primitives, we put forward a method for determining the initial control signal in the iterative learning control. Firstly,
we subsequently extract from the data base the control signals of corresponding trajectory primitives, and then transform
each control signal by rotation and translation. The linear interpolation method is applied to join the corresponding control
signals of neighboring trajectory primitives to produce the joined trajectory smooth and without interruption in the transition
zone. Thus, the initial control signal in the iterative learning control for the current desired trajectory is determined.
The proposed method is validated by a simulation example based on the XY motion platform. |