• 论文 •

### 永磁直线电机存在初态偏差时的迭代学习控制

1. 1. 齐齐哈尔大学计算机与控制工程学院,齐齐哈尔 161006; 2. 齐齐哈尔大学经济与管理学院,齐齐哈尔 161006
• 出版日期:2020-10-25 发布日期:2020-11-16

CAO Wei, QIAO Jinjie. Iterative Learning Control of Permanent Magnet Linear Motor with Initial State Errors[J]. Journal of Systems Science and Mathematical Sciences, 2020, 40(10): 1713-1722.

### Iterative Learning Control of Permanent Magnet Linear Motor with Initial State Errors

CAO Wei1 ,QIAO Jinjie2

1. 1. College of Computer and Control Engineering, Qiqihar University, Qiqihar 161006; 2. College of Economy and Management, Qiqihar University, Qiqihar 161006
• Online:2020-10-25 Published:2020-11-16

In order to solve the impact of the initial errors on the position full tracking of the linear motor, an iterative learning control algorithm is proposed for the position servo system of permanent magnet synchronous motors with initial state errors. The algorithm can constantly correct the last initial state with the initial tracking error under the condition of the unknown control input matrix, and constantly correct last control input using tracking error and tracking error derivative. And the convergence of the algorithm is proved strictly by the $\lambda$-norm theory, and the convergence condition is given. The results of theory and simulation show that the proposed algorithm can make the motor realize complete tracking of the desired position in a finite time interval with the increase of the number of iterations in any initial state, and can suppress the repeated disturbances such as load disturbance, friction and thrust fluctuation of linear motor.

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