Abstract
Aiming at the needs of ultrasonic motor's motion control system, generalized predictive iterative learning control (GPILC) strategy is constructed by integrating iterative learning control and generalized predictive control. By designing 2D objective function with the information of the previous control process, it attempts to integrate the generalized predictive control methods such as multi-step predictive and rolling optimization into the iterative learning control law to improve the iterative learning control effect. An effective design method of the iterative learning control law is proposed. Based on 2D prediction model, the differential optimization of the objective function is carried out to derive the GPILC law. Then, based on the nonlinear Hammerstein model of ultrasonic motor, an inverse compensation method for the motor's nonlinearity is designed to realize the effective compensation for motor's nonlinearity. On this basis, a generalized predictive iterative learning speed controller for ultrasonic motors is designed. The results of simulation and experiment indicate that the proposed control strategy and its design method are effective. The iterative learning process of ultrasonic motor's speed response is gradually convergent, and the control performance is good.
Highlights
The inverse piezoelectric effect of piezoelectric material is used by ultrasonic motor to convert electric energy into ultrasonic vibration of particles on stator surface, and the mechanical vibration is transformed into rotating motion of rotor through friction transmission
Based on 2D system theory and aiming at the needs of ultrasonic motor’s motion control, the specific method of designing iterative learning control law by applying generalized predictive control (GPC) idea is studied in this paper
GENERALIZED PREDICTIVE ITERATIVE LEARNING CONTROL SCHEME Consider the repeated process described by the following Controlled Auto-Regressive Integrated Moving Average (CARIMA) model
Summary
The inverse piezoelectric effect of piezoelectric material is used by ultrasonic motor to convert electric energy into ultrasonic vibration of particles on stator surface, and the mechanical vibration is transformed into rotating motion of rotor through friction transmission. Based on 2D system theory and aiming at the needs of ultrasonic motor’s motion control, the specific method of designing iterative learning control law by applying GPC idea is studied in this paper. Based on the Hammerstein nonlinear model of ultrasonic motor, an inverse compensation method for ultrasonic motor’s nonlinearity is designed to realize effective compensation On this basis, the generalized predictive iterative learning speed controller for ultrasonic motors is designed, which integrates the idea of iterative learning control with the ideas of multi-step prediction and rolling optimization. The generalized predictive iterative learning speed controller for ultrasonic motors is designed, which integrates the idea of iterative learning control with the ideas of multi-step prediction and rolling optimization In this way, the two-dimensional system performance of time index and iterative index is taken into account. Simulation and experimental results show the effectiveness of the proposed controller
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