文献类型：期刊文献

中文题名：基于非因果稳定反演迭代学习控制的轨迹跟踪控制方法

英文题名：Trajectory Tracking Control Method Based on Non-Causal Stable Inversion Iterative Learning Control

作者：梅雪川[1,2];王宇林[1,3];刘焕牢[1,3];叶敏[2];崔贵华[2];申淑丽[2];高喜涛[2]

机构：[1]广东海洋大学机械工程学院,广东湛江524088;[2]国机智能科技有限公司,广东广州510700;[3]广东省小家电创新设计及制造工程技术研究中心,广东湛江524088

年份：2025

卷号：53

期号：18

起止页码：112

中文期刊名：机床与液压

外文期刊名：Machine Tool & Hydraulics

收录：北大核心2023、、北大核心

基金：国家自然科学基金项目(52175458);湛江市科技攻关计划项目(2023B01007);广东海洋大学科研启动经费项目(060302062401;060302062108);国机智能科技发展基金项目(3601300002)。

语种：中文

中文关键词：迭代学习控制;数控机床;非因果稳定反演;不稳定零点;精密运动控制

外文关键词：iterative learning control;CNC machine tool;non-causal stable inversion;unstable zeroes;precision motion control

中文摘要：为了解决高速高精度运动控制系统中由非最小相位(NMP)零点导致的控制信号发散和跟踪精度受限问题,提出一种基于非因果稳定反演的迭代学习控制(ILC)方法。利用时域稳定反演技术,通过将不稳定部分视为非因果操作,并结合无限预览信息生成控制输入,实现对非最小相位系统的精确反演。将这一策略与ILC结合,并在具有非最小相位零点的数控机床X轴上进行双轴圆形轨迹跟踪实验。结果表明:相较于传统方法,文中方法在3次迭代内便实现快速收敛,并在10次迭代后将跟踪误差的均方根值(RMSE)降低至亚微米级别。球杆仪测试结果也进一步证实了该方法能显著提升数控机床的轮廓圆度精度。该研究为高精度轨迹跟踪控制的发展提供了有效的解决方案。

外文摘要：To address the issues of control signal divergence and limited tracking accuracy caused by inherent non-minimum phase(NMP)zeros in high-speed,high-precision motion control systems,an innovative iterative learning control(ILC)method was proposed based on non-causal stable inversion.The time-domain stable inversion techniques were utilized,which could treat the unstable part as a non-causal operation and generate control inputs using infinite preview information,thereby enabling accurate inversion for non-minimum phase systems.This strategy was combined with ILC and conducted a dual-axis circular trajectory tracking experiment on the X-axis of a CNC machine tool with non-minimum phase zeros.The results show that compared to traditional methods,the proposed approach achieves rapid convergence in just 3 iterations and reduces the root mean square error(RMSE)of the tracking error to a sub-micron level after 10 iterations.Ballbar tests further confirmed that this method significantly improves the contour roundness accuracy of the CNC machine tool.This study provides a novel and efficient solution for high-precision trajectory tracking control.