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Point-to-point iterative learning minimum energy control method for double-rotor pneumatic system

A minimum energy control, pneumatic system technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of system failure to respond, and achieve the effect of reducing energy loss

Pending Publication Date: 2022-01-07
JIANGNAN UNIV
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Problems solved by technology

However, in many cases, it is often not necessary to track the complete trajectory, and it is only necessary to meet the tracking requirements at key points. This is the point-to-point tracking problem.
On the one hand, if the control law is designed by combining state feedback and feed-forward Riccati equations, then complex calculations may make the system too late to respond

Method used

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  • Point-to-point iterative learning minimum energy control method for double-rotor pneumatic system
  • Point-to-point iterative learning minimum energy control method for double-rotor pneumatic system
  • Point-to-point iterative learning minimum energy control method for double-rotor pneumatic system

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Embodiment Construction

[0161] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0162] Such as figure 1 As shown, the input signal of the kth batch of DC motors is u k , apply it to the dual-rotor pneumatic system to get the output signal y of the kth batch system k . For the point-to-point tracking problem, the jth batch of Λ will be stored in the tracking time point distribution memory j Acting on the conversion module, the output signal y will be output through the conversion module k converted to its point-to-point output signal After that, the point-to-point output signal will be and the set expected value r stored in the point-to-point expected trajectory memory p Compare to get the point-to-point tracking error If the error accuracy does not reach the set accuracy, the point-to-point tracking error with current controller input u k passed to the norm-optimized iterative learning controller to generat...

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Abstract

The invention discloses a point-to-point iterative learning minimum energy control method for a double-rotor pneumatic system, and relates to the field of direct-current motor optimization control. According to the method, a dual-rotor pneumatic system which runs repeatedly is converted into an input and output matrix model of a time sequence based on a lifting technology, M tracking time points are selected as variables, a minimum energy problem design framework of point-to-point iterative learning control is provided, and on the basis of the framework, a control algorithm combining norm optimization point-to-point iterative learning control and a coordinate descent method is designed to solve the optimization problem. In addition, when the system model has uncertainty, the robustness of the designed minimum energy control algorithm is analyzed. The method can also be expanded to an input and output constraint system, and the purpose of minimum input energy is achieved while a point-to-point tracking task is achieved.

Description

technical field [0001] The invention relates to the field of optimal control of DC motors, in particular to a point-to-point iterative learning minimum energy control method for a double-rotor pneumatic system. Background technique [0002] A DC motor is a rotating device that converts DC power into mechanical energy. It has the characteristics of simple converter device, good speed regulation performance, and excellent operating performance. It has been widely used in the field of industrial manufacturing. [0003] For DC motors that perform repetitive motion tasks, iterative learning control has good control performance. The principle of iterative learning control is: using the input and output information of the previous batch, and continuously correcting the control input of the current batch, so as to realize the control in a limited time. Full tracking of the desired trajectory. However, in many cases, it is often not necessary to track the complete trajectory, and it...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042Y02P80/10Y02T90/00
Inventor 陶洪峰周晨辉庄志和
Owner JIANGNAN UNIV
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