Time waveform replication for electro-hydraulic shaking table incorporating off-line iterative learning control and modified internal model control
Time waveform replication for electro-hydraulic shaking table incorporating off-line iterative learning control and modified internal model control
复制标题
结合离线迭代学习控制和改进内模型控制的电液振动台时间波形复制
DOI：
10.1177/0959651814536553
复制
发表时间：
2014-06
期刊：
影响因子：
--
通讯作者：
杨炽夫
中科院分区：
文献类型：
--
作者：
沈刚;朱真才;李翔;杨炽夫
为提高电液振动台的时间波形复制性能，提出了一种离线迭代学习控制和改进内模控制相结合的复合控制策略。为了减小估计逆模型与实际系统之间的建模误差，首先采用一种改进的内模控制策略，通过将标称模型和逆控制器反吸收到直通块中来处理建模误差。针对递推扩展最小二乘算法估计的标称模型的非最小相位特性，利用零幅值误差跟踪控制器来获得稳定的逆控制器。然后，对补偿后的系统进行离线迭代学习控制策略，包括实时反馈控制器，以进一步提高复制性能。因此，该算法结合了改进内模控制和离线迭代学习控制的优点，通过消除傅里叶变换和逆傅立叶变换的连续计算，简化了传统的迭代控制过程。该组合策略首先在MATLAB/SIMULINK中编程，然后编译到采用XPC目标技术的实时个人计算机上进行实现。实验结果表明，与传统的纯迭代学习控制器相比，该算法具有更好的跟踪精度和更快的收敛速度。
In this article, a combined control strategy incorporating off-line iterative learning control and modified internal model control is proposed for improving the time waveform replication performance of electro-hydraulic shaking table. To reduce the modeling error between the estimated inverse model and the actual system, a modified internal model control strategy is first utilized to cope with the modeling error by back absorbing the nominal model and the inverse controller into a direct through block. Due to the non-minimum phase property of the nominal model estimated by the recursive extended least square algorithm, the zero magnitude error tracking controller is exploited to obtain a stable inverse controller. Then, an off-line iterative learning control strategy involving a real-time feedback controller is conducted on the compensated system to further enhance the replication performance. Therefore, the proposed algorithm combines the merits of modified internal model control and off-line iterative learning control and simplifies the conventional iterative control process by eliminating consecutive computation of Fourier and inverse Fourier transforms. The combined strategy is first programmed in MATLAB/Simulink and then compiled to a real-time personal computer with xPC target technology for implementation. Experiment results demonstrate that a better tracking accuracy and a faster convergence rate are achieved with the proposed algorithm than conventional pure iterative learning controller.
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影响因子：
3.3
作者：
Chi-Ying Lin;Po-Ying Chen
通讯作者：
Chi-Ying Lin;Po-Ying Chen
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影响因子：
--
作者：
姚建均
通讯作者：
姚建均
DOI：
10.1243/09596518jsce314
发表时间：
2007-03
期刊：
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
影响因子：
--
作者：
A. Gizatullin;K. Edge
通讯作者：
A. Gizatullin;K. Edge
DOI：
10.1243/09596518jsce331
发表时间：
2007-03
期刊：
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
影响因子：
--
作者：
Y. Tagawa;K. Kajiwara
通讯作者：
Y. Tagawa;K. Kajiwara
DOI：
10.1109/acc.1999.786370
发表时间：
1999
期刊：
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)
影响因子：
--
作者：
L. Guvenç
通讯作者：
L. Guvenç