超声波电机P型迭代学习转速控制

相对简单的闭环控制策略,能够降低超声波电机系统的复杂性,降低硬件成本,有利于超声波电机的产业化应用。尝试将结构简单的P型迭代学习控制策略用于超声波电机的转速控制。针对超声波电机的非线性运行特征,根据电机驱动频率与转速之间的特性关系实测数据,给出了包含预测和学习增益自适应调节的改进控制策略。实验表明,电机控制性能在迭代学习过程中逐步改进,学习收敛速度快,控制性能良好,控制策略简单有效。

P-Type Iterative Learning Speed Control of Ultrasonic Motor

Simple closed-loop control strategy can decrease the complexity of the ultrasonic motor system and reduce the cost, which is beneficial to the industrial application of the ultrasonic motor. A simple P-type iterative learning control strategy was attempted to be used for controlling the speed of ultrasonic motor. For the nonlinear operating characteristics of ultrasonic motor, an improved control strategy with adaptive learning gain was proposed according to the measured data of the relationship between the driving frequency and the speed of the motor. Experiments show that the control performance improved step by step during the iterative learning process, the learning convergence rate is fast, the control performance is good, and the control strategy is simple and effective.