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中文摘要：
针对PMLSM伺服系统的位置跟踪控制问题,提出一种基于特征模型的自适应迭代学习控制方案。由分析可知,在＂id=0＂的控制策略下,该系统是一个六阶线性定常系统。结合特征模型理论,给出了该系统的一阶、二阶和三阶特征模型,其特征参数沿时间轴和迭代轴均是变化的。采用遗忘因子最小二乘迭代学习辨识与最小方差控制方法,给出一种基于特征模型的带饱和限幅自适应迭代学习控制方案。仿真结果表明,提出的学习控制方案能够实现系统输出对期望位置的轨迹跟踪。
英文摘要：
Characteristic models of PMLSM servo-systems and a characteristic-model based adaptive iterative learning control method are presened.Under certain conditions,such a system is shown to be a sixth order linear time invariant systems,when utilizing the ＂id=0＂ control strategy.The characteristic models from first-order to third-order are obtained,where the characteristic parameters are both time-varying and iteration-dependent.The least squares iterative learning algorithm with a forgetting factor is introduced to estimate the unknowns,and a saturated adaptive iterative learning controller is derived based on the minimum-variance control method.Numerical results show that the system＇s outputs completely follow the desired trajectory over the entire interval,which verifies the effectiveness of the proposed control scheme.
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