【作者】 刘雨； 曾鸣； 苏宝库；

【Author】 Liu Yu, Zeng Ming, Su Bao-ku (Department of Control Engineering, Harbin Institute of Technology, Harbin 150001, China)

【机构】 哈尔滨工业大学控制科学与工程系；

【摘要】 本文针对高精度转台恒速工作状态时存在的位置相关周期非线性扰动,提出了一种闭环迭代学习算法。当系统存在初态偏差时,该算法能够保证给定频率范围内的跟踪误差是一致有界的。并对跟踪精度进行了分析。仿真结果表明该方法对位置相关周期非线性扰动具有很好的抑制性能。更多还原

【Abstract】 A current cycle iterative learning algorism is presented in this paper for the periodic position relevant nonlinear disturbance in the constant speed state of turntable. Track error is proven uniformly bounded for certain range of frequencies in the condition of existing system initialstate error. The track precision is also analyzed. Computer simulations verify the effectiveness of the proposed scheme in the rejection of periodic position relevant nonlinear disturbance.更多还原