基于迭代学习的永磁直线伺服系统扰动抑制

his paper considered the design of a cascaded iterative learning control (ILC) algorithm for a repeative position servo system of permanent magnet linear synchronous motor(PMLSM). The iterative learning controller was provided for optimizing the position input signal to compensate for cogging effect, end effect, friction effect, thrust ripple etc, which are periodic or repeative disturbances, and to reduce tracking error caused by servo lag without modification to the existing tracking controller. Simulation demonstrates that comparing with traditional controller, the proposed method improves the tracking accuracy and the response speed greatly.