Control method and system for open-loop iterative learning based on fractional calculus

A technology of fractional calculus and iterative learning control, which is applied to control systems, vector control systems, and control generators, etc., and can solve problems such as large amount of fractional calculus calculations and difficulties in implementing microprocessors

Inactive Publication Date: 2021-01-08
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the large amount of calculation of fractional calculus, it is difficult to realize it by using DSP and other microprocessors in industrial control.

Method used

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  • Control method and system for open-loop iterative learning based on fractional calculus
  • Control method and system for open-loop iterative learning based on fractional calculus
  • Control method and system for open-loop iterative learning based on fractional calculus

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Embodiment 1

[0075] see figure 1 , the technical solution of the present invention that is the embodiment of the present invention is the flow chart of the steps of the control method of the open-loop iterative learning based on fractional calculus, comprising the following steps:

[0076] S10, establishing a discrete fractional order open-loop iterative learning controller, wherein the iterative learning control law adopts PD α Type iterative learning control law for position control;

[0077] S20, establish a permanent magnet synchronous motor position servo system based on vector control, and improve controller performance by combining fractional calculus, wherein the learning gain and fractional calculus factors are adjusted according to the dynamic performance and steady-state performance of the system;

[0078] S30, iteratively learning controller equivalent transformation for fractional calculus;

[0079] S40, the motor position control value u k (i) To prove the convergence, put...

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Abstract

The invention discloses a control method and system for open-loop iterative learning based on fractional calculus. A discrete fractional order open-loop iterative learning controller is established; apermanent magnet synchronous motor position servo system based on vector control is established, and equivalent transformation of the fractional-order calculus iterative learning controller is performed; iq, id and difference obtained through comparison are sent to a current regulator, and voltage control quantities ud and uq are obtained through the current regulator; the ud and uq are subjectedto PARK inverse transformation to obtain voltage control quantities ualpha and ubeta in an alphabeta coordinate system, pulse modulation PWM signals are then generated based on the ualpha and the ubeta, and a three-phase inverter is controlled through the SVPWM principle to generate a three-phase voltage signal. The method is advantaged in that control accuracy is higher, and practicality and accuracy are both achieved.

Description

technical field [0001] The invention belongs to the technical field of motor control, and relates to a control method and system for open-loop iterative learning based on fractional calculus. Background technique [0002] In actual industrial production, there are many systems with repetitive or periodic motion processes, such as various industrial production lines such as robot welding, mobile phones, and textile industries. These devices have a common feature, that is, repetitive motion and production processes. Existing control algorithms generally use PID, sliding mode, and self-adaptive control algorithms. These algorithms generally use a single feedback or feedforward technology. Although satisfactory accuracy can be obtained for a single product, it is not enough for the consistency of the product. can be well resolved. [0003] Iterative learning control is a control algorithm for a system with repetitive motion. It uses the data information in the previous control ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/00H02P27/08
CPCH02P21/0003
Inventor 吕帅帅鄢毅心潘勉李训根刘敬彪彭时林史剑光
Owner HANGZHOU DIANZI UNIV
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