Precision Motion of iterative Learning Controller Using Adaptive Filter Bandwidth Tuning by improved Particle Swarm Optimization Technique

摘要

This paper utilized the Improved Particle Swarm Optimization (IPSO) technique for adjusting the gains of PID and the bandwidth of zero-phase Butterworth Filter of an Iterative Learning Controller (ILC) for precision motion. Simulation results show that IPSO-ILC-PID controller without adaptive bandwidth filter tuning have the chance of producing high frequencies in the error signals when the filter bandwidth is fixed for every repetition. However the learnable and unlearnable error signals should be separated for bettering control process. Thus the adaptive bandwidth of a zero phase filter in ILC-PID controller with IPSO tuning is applied to one single motion axis of a CNC tab le machine. Simulation results show that the developed controller can cancel the errors efficiently as repetition goes. The frequency response of the error signals is analyzed by the empirical mode decomposition (EMD) and the Hilbert-Huang Transform (HHT) method. Errors are reduced and validated b y ILC with adaptive bandwidth filtering design.