论文标题
基于迭代学习控制的一种无模型的循环形状方法
A Model-Free Loop-Shaping Method based on Iterative Learning Control
论文作者
论文摘要
为控制设计中的循环塑料方法开发了许多技术。虽然大多数循环整形方法都采用了开环控制工厂的模型，但最终的性能取决于动态模型的准确性。本文旨在开发一种无模型的循环整形技术。核心想法是将模型匹配问题转换为轨迹跟踪问题。为了获得所需的循环增益，我们需要确定控制输入，以使系统输出跟踪循环增益函数的脉冲响应。在本文中，应用无模型的迭代学习控制（ILC）算法来解决此跟踪问题。一旦ILC收敛，就可以构建满足所需循环增益的反馈控制器。该方法不需要受控植物的模型。因此，它提供了更好的循环控制设计设计的性能。提出的方法通过三阶工厂的数值模拟进行了验证。
Many techniques have been developed for the loop-shaping method in control design. While most loop-shaping methods apply a model of the open-loop controlled plant, the resulting performance depends on the accuracy of the dynamical model. This paper aims to develop a model-free loop-shaping technique. The core idea is to convert the model matching problem to a trajectory tracking problem. To achieve the desired loop gain, we need to determine the control input such that the system output tracks the impulse response of the loop gain function. In this paper, a model-free iterative learning control (ILC) algorithm is applied to solve this tracking problem. Once the ILC converges, the feedback controller that meets the desired loop gain can then be constructed. This method does not require the model of the controlled plant; hence it provides better performance of loop-shaping control design. The proposed method is validated through numerical simulation on a third order plant.
