基于正交投影迭代学习的高频响直线伺服系统重复性扰动辨识研究

项目名称： 基于正交投影迭代学习的高频响直线伺服系统重复性扰动辨识研究

项目编号： No.51305404

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 杨亮亮

作者单位： 浙江理工大学

项目金额： 25万元

中文摘要： 针对高频响直线伺服系统在高速运行过程中所受到的扰动，引入正交矢量投影的分析方法，构建正交矢量基函数，将扰动在基函数所构建的正交矢量空间中进行投影，采用迭代学习方法沿基函数轴方向进行扰动的迭代辨识并通过前馈进行补偿，将迭代学习控制方法拓展到正交矢量基函数空间领域，针对正交矢量投影迭代学习的收敛性，收敛速度，稳态误差，鲁棒性等基本问题进行研究，最终形成一套系统完整的理论和设计方法，以提高高频响直线伺服系统在高速运行过程中高精性能。

中文关键词： 直线伺服；迭代学习；扰动辨识；正交投影；

英文摘要： Bring forward a method of Iterative learning based on orthogonal projection according to the disturbances in the process that linear servo system with high frequency response is moving.The method of orthogonal projection is introduced,At first, orthogonalized basis functions are constructed and the repeated disturbances are projected on to the axes of the basis functions.then disturbances are identified along the axes of basis functions by iterative learning and are compensated by feedforard.The method extends the iterative learning to the space of orthogonalized basis functions.Researches will be going on according to the basis problems of convergence，convergent speed，steady error, robustness.A series of complete theory and design method of Iterative Learning Control of Orthogonal Projection is bring forward to increase the performance of high frequency response linear servo system while moving with high speed.

英文关键词： Linear Servo；Iterative Learning；Disturbance Identification；Orthogonal Projection；