【作者】 翟仑； 段培永； 李俊青； 李岩； 田国会； 黄尚锋；

【Author】 Lun Zhai;Peiyong Duan;Junqing Li;Yan Li;Guohui Tian;Shangfeng Huang;School of Information Science and Engineering,Shandong Normal University;School of Control Science and Engineering,Shandong University;Yantai Industry and Trade Technician College;

【机构】 山东师范大学信息科学与工程学院； 山东大学控制科学与工程学院； 烟台工贸技师学院；

【摘要】 切换系统可用于构建许多真实系统,因此切换系统的研究已引起广泛关注并应用在众多领域。单纯的开环迭代学习控制可精确跟踪光滑曲线,但在切换轨迹的精确跟踪过程中有时会出现跟踪误差发散以及超调较大等问题。为解决上述困难,本文针对切换轨迹的精确跟踪问题进行研究,设计闭环迭代学习控制器,以PD类型迭代学习控制作为前馈量,并采用PID类型的反馈控制器,且加入了低通滤波器。通过系统的频域分析,得到了闭环迭代学习控制收敛条件。本文通过设计闭环迭代学习控制器保证了系统性能,有效降低了由切换引起的超调,且具有单调收敛的学习效果。所有结果均通过MATLAB/SIMULINK进行仿真验证。更多还原

【Abstract】 The switched system can be applied in lots of real-world systems. So, the research on switched system has attracted significant attention and successfully been applied to many fields. The iterative learning control scheme as a feedforward control method could realize perfect tracking in the case of smooth output reference, however, the problem of divergence and large overshoot is serious as the output reference is switched system. In this paper, the tracking problem of switched system is researched. The closed loop iterative learning control is designed in this paper. The iterative learning control scheme is PD type while the PID control is a feedback control and the low pass filter is added. In frequency domain, the convergence condition of the system is achieved. The closed loop iterative learning control is designed to improve the system performance. The control scheme in this paper guarantees the monotonically convergent in the case of tracking switched system and the overshoot phenomenon is improved to a large extent. All the results are valid by MATLAB/SIMULINK.更多还原