中文摘要：

从迭代学习控制二维本质特性出发,研究了二维系统的分段复合迭代学习控制（iterative learning control,ILC）原理。在二维系统鲁棒性分析和设计基础上,提出了基于输入和输出反馈的分段式ILC策略,解决了永磁直线同步电机（permanent magnet linear synchronous motor,PMLSM）系统中扰动的分段补偿问题。在随机扰动主导段,ILC收敛劣化,反馈控制被加强;在重复扰动主导段,ILC成为主导控制。通过永磁直线电机推力仿真实验,验证了该控制策略沿时间轴和迭代轴均能很好地抑制推力波动。在实际电机位置控制实验中,对该策略与反馈控制进行对比研究,实时结果表明该控制方法可以有效提高系统位置控制精度。

英文摘要：

In consideration of the two-dimensional characteristics of iterative learning control （ILC）,the segmented synthesis ILC for the 2D system was investigated.On the basis of robust analysis and design for 2D system,a new phase-lead ILC scheme with input and output feedbacks was presented,which gave solutions to the problem of segmented compensation for linear motor disturbances.When stochastic disturbances are in dominant position,the ILC convergence will be seriously influenced and the feedback control will be strengthened.When repeated disturbances are in dominant position,ILC will be strengthened.The good performance on minimizing thrust ripples along time and iterative axes were validated by simulation of permanent magnet linear synchronous motor （PMLSM） with the control strategy.The proposed ILC strategy was compared with the feedback control through the actual experiment of PMLSM.The real time result shows that position precision of PMLSM can be effectively improved with this scheme.