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改进的PID迭代学习控制算法,和永磁电机模型
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  • 改进的PID型迭代学习控制器设计.pdf
    288.9KB
  • 基于鲁棒迭代学习的永磁直线电机控制.pdf
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内容介绍
<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/625ab3cfbe9ad24cfaeddd02/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/625ab3cfbe9ad24cfaeddd02/bg1.jpg"><div class="c x1 y1 w2 h2"><div class="t m0 x2 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0"><span class="fc0 sc2">&#20070;</span><span class="_ _0"></span><span class="sc1"><span class="fc0 sc2">&#20070;</span><span class="_ _0"></span><span class="fc1 sc2"><span class="fc0 sc2">&#20070;</span></span></span></div><div class="t m0 x3 h4 y3 ff1 fs1 fc2 sc2 ls0 ws0">&#31532;</div><div class="t m0 x4 h5 y4 ff2 fs1 fc2 sc2 ls0 ws0">16</div><div class="t m0 x5 h4 y3 ff1 fs1 fc2 sc2 ls0 ws0">&#21367;<span class="_ _1"> </span>&#31532;</div><div class="t m0 x6 h5 y4 ff2 fs1 fc2 sc2 ls0 ws0">6</div><div class="t m0 x7 h4 y3 ff1 fs1 fc2 sc2 ls0 ws0">&#26399;</div><div class="t m0 x8 h5 y5 ff2 fs1 fc2 sc2 ls0 ws0">2012</div><div class="t m0 x9 h4 y6 ff1 fs1 fc2 sc2 ls0 ws0">&#24180;</div><div class="t m0 xa h5 y5 ff2 fs1 fc2 sc2 ls0 ws0">6</div><div class="t m0 xb h4 y6 ff1 fs1 fc2 sc2 ls0 ws0">&#26376;</div><div class="t m0 xc h4 y7 ff1 fs1 fc2 sc2 ls0 ws0">&#30005;<span class="_ _2"> </span>&#26426;<span class="_ _2"> </span>&#19982;<span class="_ _2"> </span>&#25511;<span class="_ _2"> </span>&#21046;<span class="_ _2"> </span>&#23398;<span class="_ _2"> </span>&#25253;</div><div class="t m0 xd h5 y8 ff2 fs1 fc2 sc2 ls0 ws0">E<span class="_ _3"></span>L<span class="_ _3"></span>E<span class="_ _3"></span>C<span class="_ _3"></span>T<span class="_ _3"></span>R<span class="_ _4"></span>I<span class="_ _5"> </span>C<span class="_ _6"> </span>M<span class="_ _4"></span>A<span class="_ _3"></span>C<span class="_ _3"></span>H<span class="_ _3"></span>I<span class="_ _3"></span>N<span class="_ _3"></span>E<span class="_ _3"></span>S<span class="_ _6"> </span>A<span class="_ _4"></span>N<span class="_ _3"></span>D<span class="_ _6"> </span>C<span class="_ _3"></span>O<span class="_ _4"></span>N<span class="_ _3"></span>T<span class="_ _3"></span>R<span class="_ _4"></span>O<span class="_ _3"></span>L</div><div class="t m0 xe h5 y9 ff2 fs1 fc2 sc2 ls0 ws0">Vol<span class="_ _7"></span>.<span class="_ _8"> </span>16<span class="_ _9"> </span>No<span class="_ _7"></span>.<span class="_ _8"> </span>6</div><div class="t m0 xf h5 ya ff2 fs1 fc2 sc2 ls0 ws0">Jun&#65294;<span class="_ _a"> </span>2012</div><div class="t m0 x10 h6 yb ff3 fs2 fc2 sc2 ls1 ws0">&#22522;&#20110;&#40065;&#26834;&#36845;&#20195;&#23398;&#20064;&#30340;&#27704;&#30913;&#30452;&#32447;&#30005;&#26426;&#25511;&#21046;</div><div class="t m0 x11 h7 yc ff4 fs3 fc2 sc2 ls0 ws0">&#24352;<span class="_ _b"></span>&#23439;<span class="_ _b"></span>&#20255;</div><div class="t m0 x12 h7 yd ff4 fs3 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x13 h7 yc ff4 fs3 fc2 sc2 ls0 ws0">&#20313;<span class="_ _b"></span>&#21457;<span class="_ _b"></span>&#23665;</div><div class="t m0 x14 h7 yd ff4 fs3 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x15 h7 yc ff4 fs3 fc2 sc2 ls0 ws0">&#21340;<span class="_ _b"></span>&#26093;<span class="_ _b"></span>&#36745;</div><div class="t m0 x16 h7 yd ff4 fs3 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x17 h7 yc ff4 fs3 fc2 sc2 ls0 ws0">&#29579;<span class="_ _b"></span>&#31119;<span class="_ _b"></span>&#24544;</div><div class="t m0 x18 h8 ye ff1 fs4 fc2 sc2 ls0 ws0">&#65288;</div><div class="t m0 x19 h8 yf ff1 fs4 fc2 sc2 ls2 ws0">&#27827;&#21335;&#29702;&#24037;&#22823;&#23398;<span class="_ _c"> </span>&#30005;&#27668;&#24037;&#31243;&#19982;&#33258;&#21160;&#21270;&#23398;&#38498;</div><div class="t m0 x1a h8 ye ff1 fs4 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x1b h8 yf ff1 fs4 fc2 sc2 ls0 ws0">&#27827;&#21335;<span class="_ _d"> </span>&#28966;&#20316;</div><div class="t m0 x1c h8 ye ff2 fs4 fc2 sc2 ls0 ws0">454000<span class="ff1">&#65289;</span></div><div class="t m0 x1d h4 y10 ff3 fs1 fc2 sc2 ls0 ws0">&#25688;<span class="_ _1"> </span>&#35201;</div><div class="t m0 x1e h4 y11 ff5 fs1 fc2 sc2 ls0 ws0">&#65306;</div><div class="t m0 x1f h4 y10 ff5 fs1 fc2 sc2 ls3 ws0">&#38024;&#23545;&#27704;&#30913;&#30452;&#32447;&#30005;&#26426;&#36895;&#24230;&#21644;&#20301;&#32622;&#36845;&#20195;&#23398;&#20064;&#36319;&#36394;&#25511;&#21046;&#20013;</div><div class="t m0 x20 h4 y11 ff5 fs1 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x16 h4 y10 ff5 fs1 fc2 sc2 ls3 ws0">&#30001;&#27979;&#37327;&#25200;&#21160;&#24341;&#36215;&#30340;&#36319;&#36394;&#35823;&#24046;&#26377;&#30028;&#25910;&#25947;</div><div class="t m0 x1d h4 y12 ff5 fs1 fc2 sc2 ls0 ws0">&#38382;&#39064;</div><div class="t m0 x21 h4 y13 ff5 fs1 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 xa h4 y12 ff5 fs1 fc2 sc2 ls3 ws0">&#25552;&#20986;&#19968;&#31181;&#24102;&#26377;&#34928;&#20943;&#22240;&#23376;&#30340;&#40065;&#26834;&#36845;&#20195;&#23398;&#20064;&#25511;&#21046;<span class="_ _b"></span>&#31639;<span class="_ _b"></span>&#27861;</div><div class="t m0 x22 h9 y13 ff6 fs1 fc2 sc2 ls0 ws0">&#12290;</div><div class="t m0 x23 h4 y12 ff5 fs1 fc2 sc2 ls0 ws0">&#37319;<span class="_ _b"></span>&#29992;<span class="_ _c"> </span><span class="ff7">&#955;<span class="_ _c"> </span></span><span class="ls4">&#33539;&#25968;&#26041;&#27861;<span class="_ _7"></span>&#20998;&#26512;&#40065;&#26834;&#36845;&#20195;&#23398;&#20064;&#25511;&#21046;</span></div><div class="t m0 x1d h4 y14 ff5 fs1 fc2 sc2 ls0 ws0">&#31639;&#27861;<span class="_ _b"></span>&#30340;<span class="_ _b"></span>&#25910;&#25947;<span class="_ _b"></span>&#24615;</div><div class="t m0 x24 h4 y15 ff5 fs1 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x25 h4 y14 ff5 fs1 fc2 sc2 ls0 ws0">&#29702;&#35770;<span class="_ _b"></span>&#32467;<span class="_ _b"></span>&#26524;&#34920;<span class="_ _b"></span>&#26126;</div><div class="t m0 x26 h4 y15 ff5 fs1 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x27 h4 y14 ff5 fs1 fc2 sc2 ls3 ws0">&#40065;&#26834;&#36845;&#20195;&#23398;&#20064;&#25511;<span class="ls5">&#21046;&#31639;&#27861;&#21487;&#20197;&#20445;&#35777;&#36319;&#36394;&#35823;&#24046;&#25910;&#25947;&#21040;&#38646;</span></div><div class="t m0 x28 h4 y15 ff5 fs1 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x29 h4 y14 ff5 fs1 fc2 sc2 ls0 ws0">&#32780;</div><div class="t m0 x2a h5 y15 ff2 fs1 fc2 sc2 ls0 ws0">P</div><div class="t m0 x2b h4 y14 ff5 fs1 fc2 sc2 ls0 ws0">&#22411;<span class="_ _b"></span>&#36845;<span class="_ _4"></span>&#20195;<span class="_ _4"></span>&#23398;</div><div class="t m0 x1d h4 y16 ff5 fs1 fc2 sc2 ls3 ws0">&#20064;&#25511;&#21046;&#31639;&#27861;&#20165;&#20445;&#35777;&#30452;&#32447;&#30005;&#26426;&#36895;&#24230;&#21644;&#20301;&#32622;&#30340;&#36319;&#36394;&#35823;&#24046;&#25910;&#25947;&#21040;&#19968;&#20010;&#19982;&#25200;&#21160;&#20449;<span class="ls5">&#21495;&#19978;&#30028;&#26377;&#20851;&#30340;&#22495;&#20869;</span></div><div class="t m0 x2c h9 y17 ff6 fs1 fc2 sc2 ls0 ws0">&#12290;</div><div class="t m0 x2d h4 y16 ff5 fs1 fc2 sc2 ls0 ws0">&#20223;<span class="_ _b"></span>&#30495;</div><div class="t m0 x1d h4 y18 ff5 fs1 fc2 sc2 ls0 ws0">&#32467;&#26524;<span class="_ _b"></span>&#34920;<span class="_ _b"></span>&#26126;</div><div class="t m0 x10 h4 y19 ff5 fs1 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x7 h4 y18 ff5 fs1 fc2 sc2 ls3 ws0">&#25152;&#25552;&#20986;&#30340;&#40065;&#26834;&#36845;&#20195;&#23398;&#20064;&#25511;&#21046;&#31639;&#27861;&#21487;&#20197;&#26377;&#25928;&#25233;&#21046;&#27979;&#37327;&#25200;&#21160;</div><div class="t m0 x2e h4 y19 ff5 fs1 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x2f h4 y18 ff5 fs1 fc2 sc2 ls3 ws0">&#33719;&#24471;&#36739;&#22909;&#30340;&#36319;&#36394;&#24615;&#33021;</div><div class="t m0 x30 h9 y19 ff6 fs1 fc2 sc2 ls0 ws0">&#12290;</div><div class="t m0 xf h4 y18 ff5 fs1 fc2 sc2 ls0 ws0">&#24102;&#26377;<span class="_ _b"></span>&#34928;</div><div class="t m0 x1d h4 y1a ff5 fs1 fc2 sc2 ls3 ws0">&#20943;&#22240;&#23376;&#30340;&#36845;&#20195;&#23398;&#20064;&#25511;&#21046;&#26041;&#27861;&#26159;&#19968;&#31181;&#25233;&#21046;&#38750;&#37325;&#22797;&#27979;&#37327;&#25200;&#21160;&#30340;&#26377;&#25928;&#26041;&#27861;</div><div class="t m0 x2f h9 y1b ff6 fs1 fc2 sc2 ls0 ws0">&#12290;</div><div class="t m0 x1d h4 y1c ff3 fs1 fc2 sc2 ls0 ws0">&#20851;&#38190;<span class="_ _b"></span>&#35789;</div><div class="t m0 x1e h4 y1d ff5 fs1 fc2 sc2 ls0 ws0">&#65306;</div><div class="t m0 x1f h4 y1c ff5 fs1 fc2 sc2 ls0 ws0">&#36845;&#20195;<span class="_ _b"></span>&#23398;<span class="_ _b"></span>&#20064;&#25511;<span class="_ _b"></span>&#21046;</div><div class="t m0 x31 h4 y1d ff5 fs1 fc2 sc2 ls0 ws0">&#65307;</div><div class="t m0 x19 h4 y1c ff5 fs1 fc2 sc2 ls0 ws0">&#30452;&#32447;<span class="_ _b"></span>&#30005;<span class="_ _b"></span>&#26426;</div><div class="t m0 xc h4 y1d ff5 fs1 fc2 sc2 ls0 ws0">&#65307;</div><div class="t m0 x32 h4 y1c ff5 fs1 fc2 sc2 ls0 ws0">&#40065;&#26834;<span class="_ _b"></span>&#31639;<span class="_ _b"></span>&#27861;</div><div class="t m0 x33 h4 y1d ff5 fs1 fc2 sc2 ls0 ws0">&#65307;</div><div class="t m0 x14 h4 y1c ff5 fs1 fc2 sc2 ls0 ws0">&#25200;&#21160;<span class="_ _b"></span>&#25233;<span class="_ _b"></span>&#21046;</div><div class="t m0 x1d h8 y1e ff3 fs4 fc2 sc2 ls0 ws0">&#20013;&#22270;<span class="_ _b"></span>&#20998;<span class="_ _b"></span>&#31867;&#21495;</div><div class="t m0 x34 h8 y1f ff1 fs4 fc2 sc2 ls0 ws0">&#65306;<span class="_ _e"> </span><span class="ff2">TP<span class="_ _f"> </span>273</span></div><div class="t m0 x35 h8 y1e ff3 fs4 fc2 sc2 ls0 ws0">&#25991;&#29486;<span class="_ _b"></span>&#26631;<span class="_ _b"></span>&#24535;&#30721;</div><div class="t m0 x36 h8 y1f ff1 fs4 fc2 sc2 ls0 ws0">&#65306;<span class="_ _10"> </span><span class="ff2">A</span></div><div class="t m0 x37 h8 y1e ff3 fs4 fc2 sc2 ls0 ws0">&#25991;&#31456;<span class="_ _b"></span>&#32534;<span class="_ _b"></span>&#21495;</div><div class="t m0 x38 h8 y1f ff1 fs4 fc2 sc2 ls0 ws0">&#65306;<span class="_ _11"> </span><span class="ff2">1007<span class="_ _b"></span>&#65293;<span class="_ _5"> </span>449<span class="_ _b"></span>X</span>&#65288;<span class="_ _8"> </span><span class="ff2">2012<span class="_ _b"></span></span>&#65289;<span class="_ _e"> </span><span class="ff2">06<span class="_ _b"></span>&#65293;<span class="_ _5"> </span>0081<span class="_ _b"></span>&#65293;<span class="_ _5"> </span>06</span></div><div class="t m0 x39 ha y20 ff8 fs5 fc2 sc2 ls0 ws0">Robu<span class="_ _7"></span>st<span class="_ _10"> </span>ite<span class="_"> </span>r<span class="_ _b"></span>ative<span class="_ _12"> </span>learning<span class="_ _10"> </span>control<span class="_ _12"> </span>for<span class="_ _12"> </span>permanent<span class="_ _10"> </span>magnet<span class="_ _12"> </span>linear<span class="_ _10"> </span>motor</div><div class="t m0 x3a hb y21 ff2 fs6 fc2 sc2 ls0 ws0">ZHANG<span class="_ _13"> </span>Hong-<span class="_ _14"></span>wei<span class="_ _b"></span><span class="ff1">&#65292;<span class="_ _15"> </span></span>YU<span class="_ _13"> </span>Fa<span class="_ _b"></span>-<span class="_ _14"></span>shan<span class="ff1">&#65292;<span class="_ _15"> </span></span>BU<span class="_ _16"> </span>Xu<span class="_ _b"></span>-<span class="_ _14"></span>hui<span class="ff1">&#65292;<span class="_ _15"> </span></span>WANG<span class="_ _16"> </span>Fu-<span class="_ _14"></span>zhong</div><div class="t m0 x3b h8 y22 ff1 fs4 fc2 sc2 ls0 ws0">&#65288;<span class="_ _c"> </span><span class="ff2">Schoo<span class="_ _7"></span>l<span class="_ _d"> </span>of<span class="_ _c"> </span>Electrical<span class="_ _c"> </span>Engine<span class="_ _7"></span>ering<span class="_ _c"> </span>&#65286;<span class="_ _d"> </span>Autom<span class="_ _7"></span>ation<span class="ff1">&#65292;<span class="_ _0"></span><span class="ff2">He<span class="_ _7"></span>nan<span class="_ _c"> </span>Polytechnic<span class="_ _c"> </span>Universit<span class="_ _7"></span>y<span class="_ _b"></span><span class="ff1">&#65292;<span class="_ _17"></span><span class="ff2">Jiaozuo<span class="_ _e"> </span>454000<span class="_ _b"></span><span class="ff1">&#65292;<span class="_ _17"></span><span class="ff2">China<span class="ff1">&#65289;</span></span></span></span></span></span></span></span></div><div class="t m0 x1d h4 y23 ff8 fs1 fc2 sc2 ls0 ws0">Abstract<span class="ff1">&#65306;<span class="_ _8"> </span><span class="ff2">When<span class="_ _13"> </span>the<span class="_ _d"> </span>measurement<span class="_ _18"> </span>contains<span class="_ _d"> </span>disturbance<span class="_ _b"></span></span>&#65292;<span class="_ _17"></span><span class="ff2">the<span class="_ _d"> </span>tracking<span class="_ _d"> </span>error<span class="_ _18"> </span>of<span class="_ _d"> </span>iterative<span class="_ _d"> </span>learning<span class="_ _18"> </span>control<span class="_ _d"> </span>for</span></span></div><div class="t m0 x1d h5 y24 ff2 fs1 fc2 sc2 ls0 ws0">the<span class="_ _18"> </span>speed<span class="_ _18"> </span>and<span class="_ _13"> </span>position<span class="_ _13"> </span>tracking<span class="_ _16"> </span>control<span class="_ _16"> </span>of<span class="_ _16"> </span>Permanent<span class="_ _13"> </span>Magnet<span class="_ _16"> </span>Linear<span class="_ _13"> </span>Motor<span class="_ _16"> </span>is<span class="_ _16"> </span>bounded<span class="_ _16"> </span>convergence<span class="_"> </span>&#65294;<span class="_ _19"> </span>To</div><div class="t m0 x1d h5 y25 ff2 fs1 fc2 sc2 ls0 ws0">suppress<span class="_ _d"> </span>disturbance</div><div class="t m0 x3c h4 y26 ff1 fs1 fc2 sc2 ls0 ws0">&#65292;<span class="_ _17"></span><span class="ff2">a<span class="_ _d"> </span>robust<span class="_ _13"> </span>iterative<span class="_ _13"> </span>learning<span class="_ _13"> </span>control<span class="_ _13"> </span>algorithm<span class="_ _13"> </span>with<span class="_ _13"> </span>a<span class="_ _16"> </span>decreasing<span class="_ _13"> </span>gain<span class="_ _13"> </span>was<span class="_ _13"> </span>proposed<span class="_ _b"></span>&#65294;</span></div><div class="t m0 x1d h5 y27 ff2 fs1 fc2 sc2 ls0 ws0">The<span class="_ _18"> </span>convergence<span class="_ _d"> </span>analysis<span class="_ _d"> </span>was<span class="_ _18"> </span>given<span class="_ _d"> </span>using</div><div class="t m0 x3d hc y28 ff7 fs1 fc2 sc2 ls0 ws0">&#955;</div><div class="t m0 x3e h5 y27 ff2 fs1 fc2 sc2 ls0 ws0">norm&#65294;<span class="_ _15"> </span>Theoretical<span class="_ _d"> </span>analysis<span class="_ _d"> </span>indicated<span class="_ _d"> </span>that<span class="_ _d"> </span>the<span class="_ _18"> </span>P<span class="_"> </span>-<span class="_ _1a"></span>type<span class="_ _d"> </span>iterative</div><div class="t m0 x1d h5 y29 ff2 fs1 fc2 sc2 ls0 ws0">learning<span class="_ _13"> </span>control<span class="_ _13"> </span>algorithm<span class="_ _13"> </span>guaranteed<span class="_ _13"> </span>the<span class="_ _16"> </span>tracking<span class="_ _13"> </span>error<span class="_ _13"> </span>converges<span class="_ _13"> </span>to<span class="_ _13"> </span>a<span class="_ _16"> </span>bound<span class="_ _13"> </span>depending<span class="_ _16"> </span>on<span class="_ _13"> </span>the<span class="_ _13"> </span>disturb-</div><div class="t m0 x1d h4 y2a ff2 fs1 fc2 sc2 ls0 ws0">ance<span class="_ _18"> </span>bound<span class="_ _b"></span><span class="ff1">&#65292;<span class="_ _17"></span><span class="ff2">and<span class="_ _18"> </span>the<span class="_ _18"> </span>robust<span class="_ _18"> </span>iterative<span class="_ _18"> </span>learning<span class="_ _13"> </span>control<span class="_ _13"> </span>algorithm<span class="_ _13"> </span>could<span class="_ _13"> </span>guarantee<span class="_ _13"> </span>conve<span class="_"> </span>rges<span class="_ _18"> </span>0<span class="_ _4"></span>&#65294;<span class="_ _1b"> </span>Simulation</span></span></div><div class="t m0 x1d h4 y2b ff2 fs1 fc2 sc2 ls0 ws0">results<span class="_ _d"> </span>also<span class="_ _18"> </span>illustr<span class="_ _7"></span>ated<span class="_ _16"> </span>the<span class="_ _16"> </span>validit<span class="_ _7"></span>y<span class="_ _16"> </span>of<span class="_ _16"> </span>measurement<span class="_ _13"> </span>disturbance<span class="_ _16"> </span>attenuation<span class="ff1">&#65292;<span class="_ _0"></span><span class="ff2">and<span class="_ _16"> </span>the<span class="_ _16"> </span>better<span class="_ _16"> </span>tracking<span class="_ _16"> </span>per-</span></span></div><div class="t m0 x1d h4 y2c ff2 fs1 fc2 sc2 ls0 ws0">formance<span class="_ _18"> </span>was<span class="_ _18"> </span>obtained<span class="_ _b"></span>&#65294;<span class="_ _12"> </span>Hence<span class="ff1">&#65292;<span class="_ _1a"></span><span class="ff2">the<span class="_ _c"> </span>robust<span class="_ _c"> </span>iterative<span class="_ _c"> </span>learning<span class="_ _d"> </span>control<span class="_ _c"> </span>algorithm<span class="_ _c"> </span>with<span class="_ _c"> </span>a<span class="_ _d"> </span>decreasing<span class="_ _c"> </span>gain<span class="_ _d"> </span>is<span class="_ _c"> </span>an</span></span></div><div class="t m0 x1d h5 y2d ff2 fs1 fc2 sc2 ls0 ws0">effective<span class="_ _18"> </span>approach<span class="_ _18"> </span>attenuating<span class="_ _d"> </span>non<span class="_ _4"></span>-<span class="_ _14"></span>repetitive<span class="_ _18"> </span>disturbance&#65294;</div><div class="t m0 x1d h4 y2e ff8 fs1 fc2 sc2 ls0 ws0">Key<span class="_ _18"> </span>words<span class="ff1">&#65306;<span class="_ _8"> </span><span class="ff2">iterative<span class="_ _18"> </span>learning<span class="_ _18"> </span>control<span class="_ _b"></span></span>&#65307;<span class="_ _15"> </span><span class="ff2">linear<span class="_ _18"> </span>motors</span>&#65307;<span class="_ _15"> </span><span class="ff2">robust<span class="_ _18"> </span>algorithm</span>&#65307;<span class="_ _15"> </span><span class="ff2">disturbance<span class="_ _18"> </span>attenuation</span></span></div><div class="t m0 x3 hd y2f ff3 fs7 fc2 sc2 ls0 ws0">&#25910;&#31295;<span class="_ _b"></span>&#26085;<span class="_ _b"></span>&#26399;</div><div class="t m0 x3f hd y30 ff1 fs7 fc2 sc2 ls0 ws0">&#65306;<span class="_ _13"> </span><span class="ff2">2011<span class="_ _8"> </span>&#65293;<span class="_ _5"> </span>12<span class="_ _e"> </span>&#65293;<span class="_ _1c"> </span>16</span></div><div class="t m0 x3 hd y31 ff3 fs7 fc2 sc2 ls0 ws0">&#22522;&#37329;<span class="_ _b"></span>&#39033;&#30446;</div><div class="t m0 x3f hd y32 ff5 fs7 fc2 sc2 ls0 ws0">&#65306;</div><div class="t m0 x40 hd y31 ff5 fs7 fc2 sc2 ls0 ws0">&#22269;&#23478;<span class="_ _b"></span>&#33258;<span class="_ _b"></span>&#28982;&#31185;<span class="_ _b"></span>&#23398;<span class="_ _b"></span>&#22522;&#37329;</div><div class="t m0 x41 hd y32 ff5 fs7 fc2 sc2 ls0 ws0">&#65288;<span class="_ _f"> </span><span class="ff2">61074095<span class="_ _4"></span></span>&#65289;<span class="_ _e"> </span>&#65307;</div><div class="t m0 xd hd y31 ff5 fs7 fc2 sc2 ls0 ws0">&#27827;&#21335;<span class="_ _b"></span>&#30465;<span class="_ _b"></span>&#31185;&#25216;<span class="_ _b"></span>&#35745;<span class="_ _b"></span>&#21010;&#39033;<span class="_ _b"></span>&#30446;</div><div class="t m0 x42 hd y32 ff5 fs7 fc2 sc2 ls0 ws0">&#65288;<span class="_ _f"> </span><span class="ff2">94300510015<span class="_ _4"></span></span>&#65289;<span class="_ _e"> </span>&#65307;</div><div class="t m0 x43 hd y31 ff5 fs7 fc2 sc2 ls6 ws0">&#27827;&#21335;&#30465;&#39640;&#31561;&#23398;&#26657;&#25511;&#21046;&#24037;&#31243;&#37325;&#28857;&#23398;&#31185;<span class="_ _b"></span>&#24320;<span class="_ _b"></span>&#25918;&#23454;<span class="_ _b"></span>&#39564;<span class="_ _b"></span>&#23460;&#39033;<span class="_ _b"></span>&#30446;</div><div class="t m0 x44 hd y32 ff5 fs7 fc2 sc2 ls0 ws0">&#65288;<span class="_ _8"> </span><span class="ff2">KG<span class="_ _7"></span>2011</span></div><div class="t m0 x45 hd y33 ff2 fs7 fc2 sc2 ls0 ws0">&#65293;<span class="_ _1c"> </span>10<span class="_ _4"></span><span class="ff5">&#65289;<span class="_ _e"> </span>&#65307;</span></div><div class="t m0 x10 hd y34 ff5 fs7 fc2 sc2 ls7 ws0">&#27827;&#21335;&#29702;&#24037;&#22823;&#23398;&#21338;&#22763;&#22522;&#37329;</div><div class="t m0 x46 hd y35 ff5 fs7 fc2 sc2 ls0 ws0">&#65288;<span class="_ _f"> </span><span class="ff2">689476<span class="_ _4"></span></span>&#65289;</div><div class="t m0 x3 hd y36 ff3 fs7 fc2 sc2 ls0 ws0">&#20316;&#32773;<span class="_ _b"></span>&#31616;<span class="_ _b"></span>&#20171;</div><div class="t m0 x3f hd y37 ff5 fs7 fc2 sc2 ls0 ws0">&#65306;</div><div class="t m0 x40 hd y36 ff5 fs7 fc2 sc2 ls0 ws0">&#24352;&#23439;<span class="_ _b"></span>&#20255;</div><div class="t m0 x47 hd y37 ff5 fs7 fc2 sc2 ls0 ws0">&#65288;<span class="_ _f"> </span><span class="ff2">1980<span class="_ _4"></span><span class="ff9">&#8212;</span></span>&#65289;<span class="_ _8"> </span>&#65292;</div><div class="t m0 x48 hd y36 ff5 fs7 fc2 sc2 ls0 ws0">&#30007;</div><div class="t m0 x3c hd y37 ff5 fs7 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x49 hd y36 ff5 fs7 fc2 sc2 ls0 ws0">&#21338;&#22763;<span class="_ _b"></span>&#30740;<span class="_ _b"></span>&#31350;&#29983;</div><div class="t m0 x4a hd y37 ff5 fs7 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x4b hd y36 ff5 fs7 fc2 sc2 ls0 ws0">&#30740;&#31350;<span class="_ _b"></span>&#26041;<span class="_ _b"></span>&#21521;&#20026;<span class="_ _b"></span>&#24037;<span class="_ _b"></span>&#19994;&#36807;<span class="_ _b"></span>&#31243;<span class="_ _b"></span>&#25511;&#21046;</div><div class="t m0 x4c he y37 ff6 fs7 fc2 sc2 ls0 ws0">&#12289;</div><div class="t m0 x4d hd y36 ff5 fs7 fc2 sc2 ls6 ws0">&#30452;&#32447;&#30005;&#26426;&#25511;&#21046;&#31561;</div><div class="t m0 x4e hd y37 ff5 fs7 fc2 sc2 ls0 ws0">&#65307;</div><div class="t m0 x40 hd y38 ff5 fs7 fc2 sc2 ls0 ws0">&#20313;&#21457;<span class="_ _b"></span>&#23665;</div><div class="t m0 x47 hd y39 ff5 fs7 fc2 sc2 ls0 ws0">&#65288;<span class="_ _f"> </span><span class="ff2">1952<span class="_ _4"></span><span class="ff9">&#8212;</span></span>&#65289;<span class="_ _8"> </span>&#65292;</div><div class="t m0 x48 hd y38 ff5 fs7 fc2 sc2 ls0 ws0">&#30007;</div><div class="t m0 x3c hd y39 ff5 fs7 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x49 hd y38 ff5 fs7 fc2 sc2 ls0 ws0">&#30805;&#22763;</div><div class="t m0 x4f hd y39 ff5 fs7 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x50 hd y38 ff5 fs7 fc2 sc2 ls0 ws0">&#25945;&#25480;</div><div class="t m0 xd hd y39 ff5 fs7 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x4a hd y38 ff5 fs7 fc2 sc2 ls0 ws0">&#21338;&#22763;<span class="_ _b"></span>&#29983;<span class="_ _b"></span>&#23548;&#24072;</div><div class="t m0 x51 hd y39 ff5 fs7 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x52 hd y38 ff5 fs7 fc2 sc2 ls6 ws0">&#30740;&#31350;&#26041;&#21521;&#20026;&#36807;&#31243;&#25511;&#21046;</div><div class="t m0 x53 he y39 ff6 fs7 fc2 sc2 ls0 ws0">&#12289;</div><div class="t m0 x54 hd y38 ff5 fs7 fc2 sc2 ls6 ws0">&#30005;&#21147;&#30005;&#23376;&#20256;&#21160;&#31561;</div><div class="t m0 x1c hd y39 ff5 fs7 fc2 sc2 ls0 ws0">&#65307;</div><div class="t m0 x40 hd y3a ff5 fs7 fc2 sc2 ls0 ws0">&#21340;&#26093;<span class="_ _b"></span>&#36745;</div><div class="t m0 x47 hd y3b ff5 fs7 fc2 sc2 ls0 ws0">&#65288;<span class="_ _f"> </span><span class="ff2">1981<span class="_ _4"></span><span class="ff9">&#8212;</span></span>&#65289;<span class="_ _8"> </span>&#65292;</div><div class="t m0 x48 hd y3a ff5 fs7 fc2 sc2 ls0 ws0">&#30007;</div><div class="t m0 x3c hd y3b ff5 fs7 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x49 hd y3a ff5 fs7 fc2 sc2 ls0 ws0">&#21338;&#22763;</div><div class="t m0 x4f hd y3b ff5 fs7 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x50 hd y3a ff5 fs7 fc2 sc2 ls0 ws0">&#21103;&#25945;<span class="_ _b"></span>&#25480;</div><div class="t m0 x4b hd y3b ff5 fs7 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x55 hd y3a ff5 fs7 fc2 sc2 ls0 ws0">&#30740;&#31350;<span class="_ _b"></span>&#26041;<span class="_ _b"></span>&#21521;&#20026;<span class="_ _b"></span>&#23398;<span class="_ _b"></span>&#20064;&#25511;<span class="_ _b"></span>&#21046;</div><div class="t m0 x14 he y3b ff6 fs7 fc2 sc2 ls0 ws0">&#12289;</div><div class="t m0 x56 hd y3a ff5 fs7 fc2 sc2 ls6 ws0">&#25968;&#25454;&#39537;&#21160;&#25511;&#21046;&#31561;</div><div class="t m0 x57 hd y3b ff5 fs7 fc2 sc2 ls0 ws0">&#65307;</div><div class="t m0 x40 hd y3c ff5 fs7 fc2 sc2 ls0 ws0">&#29579;&#31119;<span class="_ _b"></span>&#24544;</div><div class="t m0 x47 hd y3d ff5 fs7 fc2 sc2 ls0 ws0">&#65288;<span class="_ _f"> </span><span class="ff2">1961<span class="_ _4"></span><span class="ff9">&#8212;</span></span>&#65289;<span class="_ _8"> </span>&#65292;</div><div class="t m0 x48 hd y3c ff5 fs7 fc2 sc2 ls0 ws0">&#30007;</div><div class="t m0 x3c hd y3d ff5 fs7 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x49 hd y3c ff5 fs7 fc2 sc2 ls0 ws0">&#21338;&#22763;</div><div class="t m0 x4f hd y3d ff5 fs7 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x50 hd y3c ff5 fs7 fc2 sc2 ls0 ws0">&#25945;&#25480;</div><div class="t m0 xd hd y3d ff5 fs7 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x4a hd y3c ff5 fs7 fc2 sc2 ls6 ws0">&#30740;&#31350;&#26041;&#21521;&#20026;&#30005;&#26426;&#39537;&#21160;&#19982;&#25511;&#21046;</div><div class="t m0 x4d he y3d ff6 fs7 fc2 sc2 ls0 ws0">&#12289;</div><div class="t m0 x58 hd y3c ff5 fs7 fc2 sc2 ls6 ws0">&#24037;&#19994;&#36807;&#31243;&#25511;&#21046;&#31561;</div><div class="t m0 x59 he y3d ff6 fs7 fc2 sc2 ls0 ws0">&#12290;</div><div class="t m0 x3 hd y3e ff3 fs7 fc2 sc2 ls0 ws0">&#36890;&#35759;<span class="_ _b"></span>&#20316;<span class="_ _b"></span>&#32773;</div><div class="t m0 x3f hd y3f ff5 fs7 fc2 sc2 ls0 ws0">&#65306;</div><div class="t m0 x40 hd y3e ff5 fs7 fc2 sc2 ls0 ws0">&#21340;&#26093;<span class="_ _b"></span>&#36745;</div><div class="t m0 x5a hf y40 ff8 fs3 fc2 sc2 ls0 ws0">0</div><div class="t m0 x1d h7 y41 ff3 fs3 fc2 sc2 ls0 ws0">&#24341;<span class="_ _2"> </span>&#35328;</div><div class="t m0 x1d h4 y42 ff1 fs1 fc2 sc2 ls0 ws0">&#27704;<span class="_ _4"></span>&#30913;<span class="_ _f"> </span>&#21516;<span class="_ _5"> </span>&#27493;<span class="_ _5"> </span>&#30452;<span class="_ _f"> </span>&#32447;<span class="_ _f"> </span>&#30005;<span class="_ _5"> </span>&#26426;</div><div class="t m0 x5b h4 y43 ff1 fs1 fc2 sc2 ls0 ws0">&#65288;<span class="_ _16"> </span><span class="ff2">permanent<span class="_ _12"> </span>magnet<span class="_ _12"> </span>linear</span></div><div class="t m0 x3 h4 y44 ff2 fs1 fc2 sc2 ls0 ws0">motor<span class="ff1">&#65292;<span class="_ _1d"></span><span class="ff2">PMLM<span class="ff1">&#65289;</span></span></span></div><div class="t m0 x47 h4 y45 ff1 fs1 fc2 sc2 ls3 ws0">&#26159;&#19968;&#31181;&#23558;&#30005;&#33021;&#30452;&#25509;&#36716;&#21270;&#25104;&#30452;<span class="_ _b"></span>&#32447;<span class="_ _b"></span>&#36816;&#21160;<span class="_ _b"></span>&#26426;</div><div class="t m0 x3 h4 y46 ff1 fs1 fc2 sc2 ls0 ws0">&#26800;&#33021;<span class="_ _b"></span>&#30340;<span class="_ _3"></span>&#20256;<span class="_ _3"></span>&#21160;<span class="_ _1c"></span>&#35013;<span class="_ _3"></span>&#32622;</div><div class="t m0 x5c h10 y47 ff1 fs8 fc2 sc2 ls0 ws0">&#65339;<span class="_ _17"></span><span class="ff2">1<span class="_ _0"></span><span class="ff1">&#65341;</span></span></div><div class="t m0 x5d h4 y48 ff1 fs1 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x5e h4 y46 ff1 fs1 fc2 sc2 ls8 ws0">&#36817;&#24180;&#26469;&#34987;&#24191;&#27867;&#24212;&#29992;&#20110;&#24037;&#19994;&#39046;</div><div class="t m0 x15 h4 y49 ff1 fs1 fc2 sc2 ls0 ws0">&#22495;</div><div class="t m0 x5f h9 y4a ff6 fs1 fc2 sc2 ls0 ws0">&#12290;</div><div class="t m0 x60 h4 y4b ff1 fs1 fc2 sc2 ls3 ws0">&#30001;&#20110;&#30452;&#32447;&#30005;&#26426;&#30340;&#40831;&#27133;&#25928;&#24212;</div><div class="t m0 x61 h9 y4a ff6 fs1 fc2 sc2 ls0 ws0">&#12289;</div><div class="t m0 x62 h4 y4b ff1 fs1 fc2 sc2 ls0 ws0">&#31471;&#37096;<span class="_ _b"></span>&#25928;<span class="_ _b"></span>&#24212;</div><div class="t m0 x63 h9 y4a ff6 fs1 fc2 sc2 ls0 ws0">&#12289;</div><div class="t m0 x2d h4 y4b ff1 fs1 fc2 sc2 ls0 ws0">&#31995;&#32479;<span class="_ _b"></span>&#21442;<span class="_ _b"></span>&#25968;</div><div class="t m0 x15 h4 y4c ff1 fs1 fc2 sc2 ls0 ws0">&#65288;</div><div class="t m0 x64 h4 y4d ff1 fs1 fc2 sc2 ls0 ws0">&#21160;&#23376;<span class="_ _b"></span>&#36136;<span class="_ _b"></span>&#37327;</div><div class="t m0 x65 h9 y4c ff6 fs1 fc2 sc2 ls0 ws0">&#12289;</div><div class="t m0 x66 h4 y4d ff1 fs1 fc2 sc2 ls9 ws0">&#31896;&#28382;&#25705;&#25830;&#31995;&#25968;&#31561;</div><div class="t m0 x67 h4 y4c ff1 fs1 fc2 sc2 ls0 ws0">&#65289;</div><div class="t m0 x68 h4 y4d ff1 fs1 fc2 sc2 ls0 ws0">&#30340;<span class="_ _4"></span>&#21464;<span class="_ _3"></span>&#21270;</div><div class="t m0 xe h9 y4c ff6 fs1 fc2 sc2 ls0 ws0">&#12289;</div><div class="t m0 x69 h4 y4d ff1 fs1 fc2 sc2 ls0 ws0">&#25705;<span class="_ _4"></span>&#25830;<span class="_ _3"></span>&#38459;<span class="_ _4"></span>&#21147;<span class="_ _3"></span>&#30340;</div><div class="t m0 x15 h4 y4e ff1 fs1 fc2 sc2 ls3 ws0">&#38750;&#32447;&#24615;&#21464;&#21270;&#31561;&#22240;&#32032;<span class="_ _b"></span>&#30340;<span class="_ _4"></span>&#23384;<span class="_ _b"></span>&#22312;</div><div class="t m0 x6a h4 y4f ff1 fs1 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x6b h4 y4e ff1 fs1 fc2 sc2 lsa ws0">&#30452;&#32447;&#30005;&#26426;&#31995;&#32479;&#26159;&#19968;&#20010;&#22810;</div><div class="t m0 x15 h4 y50 ff1 fs1 fc2 sc2 ls0 ws0">&#21464;&#37327;</div><div class="t m0 x60 h9 y51 ff6 fs1 fc2 sc2 ls0 ws0">&#12289;</div><div class="t m0 x6c h4 y52 ff1 fs1 fc2 sc2 ls3 ws0">&#26102;&#21464;&#30340;&#38750;&#32447;&#24615;&#31995;&#32479;</div><div class="t m0 x6d h4 y51 ff1 fs1 fc2 sc2 ls0 ws0">&#65292;</div><div class="t m0 x6e h4 y52 ff1 fs1 fc2 sc2 ls0 ws0">&#20256;&#32479;<span class="_ _b"></span>&#30340;</div><div class="t m0 x6f h5 y51 ff2 fs1 fc2 sc2 ls0 ws0">PID</div><div class="t m0 x30 h4 y52 ff1 fs1 fc2 sc2 ls0 ws0">&#25511;&#21046;<span class="_ _b"></span>&#26041;<span class="_ _b"></span>&#27861;&#38024;<span class="_ _b"></span>&#23545;</div><div class="t m0 x15 h4 y53 ff1 fs1 fc2 sc2 lsb ws0">&#36825;<span class="_ _1e"></span>&#31867;<span class="_ _1e"></span>&#38750;<span class="_ _1e"></span>&#32447;&#24615;&#31995;&#32479;&#24456;&#38590;&#23454;&#29616;&#31934;&#30830;&#25511;&#21046;</div><div class="t m0 x70 h10 y47 ff1 fs8 fc2 sc2 ls0 ws0">&#65339;<span class="_ _17"></span><span class="ff2">2<span class="_ _0"></span><span class="ff1">&#65341;</span></span></div><div class="t m0 x69 h9 y48 ff6 fs1 fc2 sc2 ls0 ws0">&#12290;</div><div class="t m0 x71 h4 y46 ff1 fs1 fc2 sc2 ls0 ws0">&#34429;<span class="_ _3"></span>&#28982;<span class="_ _4"></span>&#33258;<span class="_ _3"></span>&#36866;</div></div></div><div class="pi" data-data='{"ctm":[1.605917,0.000000,0.000000,1.605917,0.000000,0.000000]}'></div></div> </body> </html>
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