The Application of a Parameter Adaptive Iterative Learning Control on Three-Axis Angular Vibration Turntable
Angular vibration turntable is an important device in the performance test of inertial device.First,the mathematical model of the three-axis angular vibration turntable is established in this paper; second,the iterative learning control algorithm based on the mathematical model is designed; and considering the situations of parameter uncertainty and parameter time-varying,in order to improve the precision during the period of tracking periodic anticipant input,the method of parameter adaptive is introduced based on the traditional PID iterative learning control; third,the convergence analysis of the adaptive parameter iterative learning control algorithm is carried out; finally,the experiments are carried out on the threeaxis angular vibration turntable in order to verify the control algorithm proposed in this paper.The results of the experiments show that the parameter adaptive iterative learning control,compared to traditional PID control,can improve the precision of the system during tracking the periodic input,and the design is of benefit to reducing the periodic disturbance too.
Three-axis angular vibration turntable Iterative learning control Parameter adaptive System disturbance Robustness
Ruoxuan Luan Zhen Chen
5th South Street,Zhongguancun,Haidian District,Beijing 100081,China
国际会议
The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)
福州
英文
75-82
2015-05-08（万方平台首次上网日期，不代表论文的发表时间）