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Tuned open-loop switched to closed-loop method for rapid point-to-point movement of a periodic motion control system

机译:调整的开环切换到闭环方法,用于周期性运动控制系统的快速点对点运动

摘要

A motor control method and apparatus produce rapid, point-to-point movement while minimizing settling time and peak power consumption in a servo-control system with a periodic input. Rapid open-loop movement is combined with tuning of the open-loop input based on position and velocity of the output when the loop is closed. Iterative learning control is used to adjust open-loop commands in subsequent cycles to reduce residual vibrations and quickly reach the desired final position. The apparatus and method can be used in motion control applications requiring rapid, periodic, point-to-point movement, such as weather satellite servo systems with a periodic input containing multiple step responses within each period.
机译:在具有周期性输入的伺服控制系统中,电动机控制方法和设备可产生快速的点对点运动,同时将建立时间和峰值功耗降至最低。快速的开环运动与闭环时根据输出的位置和速度调整开环输入相结合。迭代学习控制用于在随后的循环中调整开环命令,以减少残留振动并快速到达所需的最终位置。该装置和方法可用于需要快速,周期性,点对点运动的运动控制应用中,例如气象卫星伺服系统,其周期性输入在每个周期内包含多个阶跃响应。

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