电液比例系统位置伺服迭代学习控制

针对电液比例控制系统存在的时变性、非线性、强耦合以及液压参数摄动等问题，提出一种带补偿的迭代学习控制（ILC）算法。在分析电液比例位置伺服系统机制的基础上，建立系统的数学模型。设计不严格依赖于系统精确模型的迭代学习算法，以非常简单的方式处理不确定度相当高的非线性强耦合动态系统。为解决误差收敛过程中存在的抖动和尖峰毛刺，在算法中加入输入和误差补偿。利用先前控制输入和误差的变化量，对系统进行补偿。仿真和实验结果表明：迭代学习控制算法能够有效实现系统对期望轨迹的精确跟踪；与传统PID控制相比，迭代学习控制提高了系统的控制精度和快速跟踪能力。

Iterative Learning Control of Position Servo for Electro hydraulic Proportional System

Aimed at the problems of time varying, non linearity, strong coupling and hydraulic parameter perturbation in electro hydraulic proportional control system, an iterative learning control(ILC) algorithm with compensation was proposed. Based on the analysis of the mechanism of electro hydraulic proportional position servo system, the mathematical model of the system was established. An iterative learning algorithm which did not strictly depend on the exact model of the system was designed, and the highly uncertain nonlinear strongly coupled dynamic system was dealt with in a very simple way. In order to solve the jitter and spike burr in the process of error convergence, input and error compensation were added to the algorithm. The system was compensated by using the variation of input and error previously controlled.The simulation and experimental results show that ILC algorithm can be used to effectively track the desired trajectory accurately. Compared with traditional PID control, ILC improves the control accuracy and fast tracking ability of the system.