CAJ | 학술논문

液压角振动台是十分复杂的非线性系统,应用传统的控制系统设计方法很难满足其控制要求.引入迭代学习控制算法的非线性控制策略,针对控制系统的稳定性以及迭代学习的收敛性,提出复合迭代学习控制算法,并从频域角度给出其收敛性条件.将仿真结果与实验数据进行对比分析,结果表明:系统压力12 MPa条件下,采用该方法角振动台内框具有20 Hz(峰-峰值0.4°)的正弦响应能力,且其相位滞后不超过10°,幅值误差不大于±10%,验证了此控制策略的有效性.该复合迭代学习控制策略不仅拓宽了系统频带,而且改善了系统输出对期望信号输入的跟踪精度,为液压角振动台的高性能实时控制开辟了新途径.
액압각진동태시십분복잡적비선성계통,응용전통적공제계통설계방법흔난만족기공제요구.인입질대학습공제산법적비선성공제책략,침대공제계통적은정성이급질대학습적수렴성,제출복합질대학습공제산법,병종빈역각도급출기수렴성조건.장방진결과여실험수거진행대비분석,결과표명:계통압력12 MPa조건하,채용해방법각진동태내광구유20 Hz(봉-봉치0.4°)적정현향응능력,차기상위체후불초과10°,폭치오차불대우±10%,험증료차공제책략적유효성.해복합질대학습공제책략불부탁관료계통빈대,이차개선료계통수출대기망신호수입적근종정도,위액압각진동태적고성능실시공제개벽료신도경.
Angular vibration hydraulic table is a kind of complex and non-linear system. Applying traditional controller to the angular vibration system, it is difficult to increase the control accuracy to a high level. This paper applied a kind of non-linear control strategy which is iteration-learning-control to control angular vibration hydraulic table. Aiming at the stabilization of the control system and the convergence of the iteration-learning-control, a compound iteration-learning-control is adopted, and the convergence criterion is given from the view of frequency-domain. Comparison simulation with experiment, the results show that the inner frame of the angular vibration hydraulic table has the response capability of 20 Hz(0.4°peak to peak value), the lag of phase is no more than 10°and the error of value is less than ±10% under the pressure of 12 MPa. The results verify the effectiveness of the compound iteration-learning-control strategy, which can increase the bandwidth of the system and improve the precision of the system during tracking the expected input signal. The compound iterative-learning control also provides a new way in high performance real-time control of angle vibration hydraulic table.