摘要
迭代学习控制(Iterative Learning Control,简称ILC)适用于具有重复特性的工业控制过程,可利用系统先前的控制经验和输出误差来修正当前的控制信号,使系统输出得以精确跟踪期望轨迹。但是实际系统中常存在非重复性的扰动,传统的迭代学习控制算法不能很好的对其加以抑制,因此本文针对迭代学习控制中的非重复扰动问题进行了研究,具体的研究工作如下：
首先,介绍了迭代学习控制的理论知识,总结了迭代学习控制的发展历程、近年来国内外发展的现状及存在的问题；其次,为了使迭代学习控制具有更好的跟踪性能,提出了与前人不同的体系结构,即反馈控制器与迭代学习控制串行连接,分别分析了串、并行连接体系结构的性能,结果进行了比较,利用仿真实验验证了反馈控制器与迭代学习控制串行连接方式的有效性；再次,针对本文要解决的主要问题,即迭代学习控制中的非重复扰动问题,提出了基于扰动观测器的解决方案,介绍了扰动观测器的基本结构,分析了扰动观测器的性能、迭代学习控制的性能及两者结合的整体性能。总结出了在不影响系统稳定的前提下,扰动观测器可抑制非重复性的扰动,并通过几项仿真实验结果的比较验证了此结论；最后,设计基于扰动观测器的反馈控制器与迭代学习控制串行连接的方案,分析了系统的性能,证明了可以有效地提高系统的跟踪性能,抑制了迭代学习控制中的非重复扰动,仿真结果验证了其有效性。
Iterative learning control (ILC) is applied to the repetitive characteristics industrial control process. Current control information is revised in ILC by using the former control experience and the output errors of the system. The system output can track of a desired trajectory at a high precision. However, the non-repetitiveness always existed in the actual system and traditional iterative learning control algorithm cannot harness it well. So, the problem about the non-repetitive disturbance in ILC is investigated.The research work is introduced as follows:
First, the basic theory of the iterative learning control is introduced. Then The development history, the present development situation at home and abroad and the existing problems of ILC in recent years are summed up, also. Second, the different architecture with predecessor is proposed.This architecture can improve the tracking performance of ILC. The architecture is a series connection of feedback controller and iterative learning controller.The performance of the series connection architecture is analyzed,and the results are compared. The series connection of feedback controller and iterative learning control is confirmed effectiveness by the simulation experiment. Third, non-repetitive disturbance in ILC is major problem. This problem is solved by disturbance observer (DOB). The basic framework of DOB is introduced. The performance of DOB,ILC and the whole structure are analyzed. To guarantee the stability of system, DOB can inhibit non-repetitive disturbance. The Simulink can verify this conclusion. At last, the scheme is designed to combining the series connection of feedback controller and ILC with DOB. Then The performance of system is analyzed. The designing system is proved to be effective for promoting tracking performance,and The non-repetitive disturbance in ILC is inhibited. The effectiveness is verified by the result of simulation.
引文
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